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First version under SVN is V4.0.1
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Richard Barry
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Demo/PIC18_MPLAB/main3.c
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Demo/PIC18_MPLAB/main3.c
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/*
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FreeRTOS V4.0.1 - Copyright (C) 2003-2006 Richard Barry.
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This file is part of the FreeRTOS distribution.
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FreeRTOS is free software; you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation; either version 2 of the License, or
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(at your option) any later version.
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FreeRTOS is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with FreeRTOS; if not, write to the Free Software
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Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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A special exception to the GPL can be applied should you wish to distribute
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a combined work that includes FreeRTOS, without being obliged to provide
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the source code for any proprietary components. See the licensing section
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of http://www.FreeRTOS.org for full details of how and when the exception
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can be applied.
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***************************************************************************
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See http://www.FreeRTOS.org for documentation, latest information, license
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and contact details. Please ensure to read the configuration and relevant
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port sections of the online documentation.
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***************************************************************************
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*/
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/*
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* THIS DEMO APPLICATION REQUIRES A LOOPBACK CONNECTOR TO BE FITTED TO THE PIC
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* USART PORT - connect pin 2 to pin 3 on J2.
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*
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* Instead of the normal single demo application, the PIC18F demo is split
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* into several smaller programs of which this is the third. This enables the
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* demo's to be executed on the RAM limited 40 pin devices. The 64 and 80 pin
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* devices require a more costly development platform and are not so readily
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* available.
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*
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* The RTOSDemo3 project is configured for a PIC18F452 device. Main3.c starts
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* 5 tasks (including the idle task).
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*
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* The first task repeatedly transmits a string of characters on the PIC USART
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* port. The second task receives the characters, checking that the correct
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* sequence is maintained (i.e. what is transmitted is identical to that
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* received). Each transmitted and each received character causes an LED to
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* flash. See demo/common/minimal/comtest. c for more information.
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*
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* The third task continuously performs a 32 bit calculation. This is a good
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* test of the context switch mechanism as the 8 bit architecture requires
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* the use of several file registers to perform the 32 bit operations. See
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* demo/common/minimal/integer. c for more information.
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*
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* The third task is the check task. This periodically checks that the other
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* tasks are still running and have not experienced any errors. If no errors
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* have been reported by either the comms or integer tasks an LED is flashed
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* with a frequency mainNO_ERROR_CHECK_PERIOD. If an error is discovered the
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* frequency is increased to mainERROR_FLASH_RATE.
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*
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* The check task also provides a visual indication of a system reset by
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* flashing the one remaining LED (mainRESET_LED) when it starts. After
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* this initial flash mainRESET_LED should remain off.
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*
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* http://www.FreeRTOS.org contains important information on the use of the
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* PIC18F port.
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*/
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/*
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Changes from V2.0.0
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+ Delay periods are now specified using variables and constants of
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portTickType rather than unsigned portLONG.
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*/
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/* Scheduler include files. */
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#include "FreeRTOS.h"
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#include "task.h"
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/* Demo app include files. */
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#include "partest.h"
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#include "serial.h"
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#include "comtest.h"
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#include "integer.h"
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/* Priority definitions for the LED tasks. Other tasks just use the idle
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priority. */
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#define mainCOMM_TEST_PRIORITY ( tskIDLE_PRIORITY + ( unsigned portBASE_TYPE ) 2 )
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#define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + ( unsigned portBASE_TYPE ) 3 )
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/* The period between executions of the check task before and after an error
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has been discovered. If an error has been discovered the check task runs
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more frequently - increasing the LED flash rate. */
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#define mainNO_ERROR_CHECK_PERIOD ( ( portTickType ) 1000 / portTICK_RATE_MS )
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#define mainERROR_CHECK_PERIOD ( ( portTickType ) 100 / portTICK_RATE_MS )
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/* The period for which mainRESET_LED remain on every reset. */
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#define mainRESET_LED_PERIOD ( ( portTickType ) 500 / portTICK_RATE_MS )
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/* The LED that is toggled whenever a character is transmitted.
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mainCOMM_TX_RX_LED + 1 will be toggled every time a character is received. */
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#define mainCOMM_TX_RX_LED ( ( unsigned portBASE_TYPE ) 2 )
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/* The LED that is flashed by the check task at a rate that indicates the
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error status. */
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#define mainCHECK_TASK_LED ( ( unsigned portBASE_TYPE ) 1 )
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/* The LED that is flashed once upon every reset. */
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#define mainRESET_LED ( ( unsigned portBASE_TYPE ) 0 )
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/* Constants required for the communications. */
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#define mainCOMMS_QUEUE_LENGTH ( ( unsigned portBASE_TYPE ) 5 )
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#define mainBAUD_RATE ( ( unsigned portLONG ) 57600 )
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/*-----------------------------------------------------------*/
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/*
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* Task function which periodically checks the other tasks for errors. Flashes
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* an LED at a rate that indicates whether an error has ever been detected.
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*/
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static void vErrorChecks( void *pvParameters );
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/*-----------------------------------------------------------*/
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/* Creates the tasks, then starts the scheduler. */
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void main( void )
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{
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/* Initialise the required hardware. */
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vParTestInitialise();
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/* Initialise the block memory allocator. */
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vPortInitialiseBlocks();
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/* Start the standard comtest tasks as defined in demo/common/minimal. */
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vAltStartComTestTasks( mainCOMM_TEST_PRIORITY, mainBAUD_RATE, mainCOMM_TX_RX_LED );
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/* Start the standard 32bit calculation task as defined in
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demo/common/minimal. */
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vStartIntegerMathTasks( tskIDLE_PRIORITY );
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/* Start the check task defined in this file. */
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xTaskCreate( vErrorChecks, ( const portCHAR * const ) "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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/* Start the scheduler. This will never return. */
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vTaskStartScheduler();
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}
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/*-----------------------------------------------------------*/
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static void vErrorChecks( void *pvParameters )
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{
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portTickType xDelayTime = mainNO_ERROR_CHECK_PERIOD;
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volatile unsigned portLONG ulDummy = 3UL;
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/* Toggle the LED so we can see when a reset occurs. */
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vParTestSetLED( mainRESET_LED, pdTRUE );
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vTaskDelay( mainRESET_LED_PERIOD );
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vParTestSetLED( mainRESET_LED, pdFALSE );
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/* Cycle for ever, delaying then checking all the other tasks are still
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operating without error. */
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for( ;; )
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{
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/* Wait until it is time to check the other tasks. */
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vTaskDelay( xDelayTime );
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/* Perform an integer calculation - just to ensure the registers
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get used. The result is not important. */
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ulDummy *= 3UL;
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/* Check all the other tasks are running, and running without ever
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having an error. The delay period is lowered if an error is reported,
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causing the LED to flash at a higher rate. */
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if( xAreIntegerMathsTaskStillRunning() == pdFALSE )
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{
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xDelayTime = mainERROR_CHECK_PERIOD;
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}
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if( xAreComTestTasksStillRunning() == pdFALSE )
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{
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xDelayTime = mainERROR_CHECK_PERIOD;
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}
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/* Flash the LED for visual feedback. The rate of the flash will
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indicate the health of the system. */
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vParTestToggleLED( mainCHECK_TASK_LED );
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}
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}
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/*-----------------------------------------------------------*/
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