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Richard Barry 2008-02-13 10:36:35 +00:00
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24
20080212/Demo/PIC18_MPLAB/18f452.lkr Normal file
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// $Id: 18f452.lkr,v 1.4 2003/03/13 05:02:23 sealep Exp $
// File: 18f452.lkr
// Sample linker script for the PIC18F452 processor
LIBPATH .
FILES c018i.o
FILES clib.lib
FILES p18f452.lib
CODEPAGE NAME=vectors START=0x0 END=0x39 PROTECTED
CODEPAGE NAME=page START=0x3A END=0x7FFF
CODEPAGE NAME=idlocs START=0x200000 END=0x200007 PROTECTED
CODEPAGE NAME=config START=0x300000 END=0x30000D PROTECTED
CODEPAGE NAME=devid START=0x3FFFFE END=0x3FFFFF PROTECTED
CODEPAGE NAME=eedata START=0xF00000 END=0xF000FF PROTECTED
ACCESSBANK NAME=accessram START=0x0 END=0x7F
DATABANK NAME=BIG_BLOCK START=0x80 END=0x5FF
ACCESSBANK NAME=accesssfr START=0xF80 END=0xFFF PROTECTED
SECTION NAME=CONFIG ROM=config
STACK SIZE=0x60 RAM=BIG_BLOCK

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20080212/Demo/PIC18_MPLAB/FreeRTOSConfig.h Normal file
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/*
FreeRTOS.org V4.7.1 - Copyright (C) 2003-2008 Richard Barry.
This file is part of the FreeRTOS.org distribution.
FreeRTOS.org is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 2 of the License, or
(at your option) any later version.
FreeRTOS.org is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with FreeRTOS.org; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
A special exception to the GPL can be applied should you wish to distribute
a combined work that includes FreeRTOS.org, without being obliged to provide
the source code for any proprietary components. See the licensing section
of http://www.FreeRTOS.org for full details of how and when the exception
can be applied.
***************************************************************************
Please ensure to read the configuration and relevant port sections of the
online documentation.
+++ http://www.FreeRTOS.org +++
Documentation, latest information, license and contact details.
+++ http://www.SafeRTOS.com +++
A version that is certified for use in safety critical systems.
+++ http://www.OpenRTOS.com +++
Commercial support, development, porting, licensing and training services.
***************************************************************************
*/
#ifndef FREERTOS_CONFIG_H
#define FREERTOS_CONFIG_H
#include <p18cxxx.h>
/*-----------------------------------------------------------
* Application specific definitions.
*
* These definitions should be adjusted for your particular hardware and
* application requirements.
*
* THESE PARAMETERS ARE DESCRIBED WITHIN THE 'CONFIGURATION' SECTION OF THE
* FreeRTOS API DOCUMENTATION AVAILABLE ON THE FreeRTOS.org WEB SITE.
*----------------------------------------------------------*/
#define configUSE_PREEMPTION 1
#define configUSE_IDLE_HOOK 0
#define configUSE_TICK_HOOK 0
#define configTICK_RATE_HZ ( ( portTickType ) 1000 )
#define configCPU_CLOCK_HZ ( ( unsigned portLONG ) 20000000 )
#define configMAX_PRIORITIES ( ( unsigned portBASE_TYPE ) 4 )
#define configMINIMAL_STACK_SIZE ( 105 )
#define configTOTAL_HEAP_SIZE ( ( size_t ) 1024 )
#define configMAX_TASK_NAME_LEN ( 4 )
#define configUSE_TRACE_FACILITY 0
#define configUSE_16_BIT_TICKS 1
#define configIDLE_SHOULD_YIELD 1
/* Co-routine definitions. */
#define configUSE_CO_ROUTINES 0
#define configMAX_CO_ROUTINE_PRIORITIES ( 2 )
/* Set the following definitions to 1 to include the API function, or zero
to exclude the API function. */
#define INCLUDE_vTaskPrioritySet 0
#define INCLUDE_uxTaskPriorityGet 0
#define INCLUDE_vTaskDelete 1
#define INCLUDE_vTaskCleanUpResources 0
#define INCLUDE_vTaskSuspend 0
#define INCLUDE_vTaskDelayUntil 1
#define INCLUDE_vTaskDelay 1
#endif /* FREERTOS_CONFIG_H */

133
20080212/Demo/PIC18_MPLAB/ParTest/ParTest.c Normal file
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/*
FreeRTOS.org V4.7.1 - Copyright (C) 2003-2008 Richard Barry.
This file is part of the FreeRTOS.org distribution.
FreeRTOS.org is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 2 of the License, or
(at your option) any later version.
FreeRTOS.org is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with FreeRTOS.org; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
A special exception to the GPL can be applied should you wish to distribute
a combined work that includes FreeRTOS.org, without being obliged to provide
the source code for any proprietary components. See the licensing section
of http://www.FreeRTOS.org for full details of how and when the exception
can be applied.
***************************************************************************
Please ensure to read the configuration and relevant port sections of the
online documentation.
+++ http://www.FreeRTOS.org +++
Documentation, latest information, license and contact details.
+++ http://www.SafeRTOS.com +++
A version that is certified for use in safety critical systems.
+++ http://www.OpenRTOS.com +++
Commercial support, development, porting, licensing and training services.
***************************************************************************
*/
/*
Changes from V2.0.0
+ Use scheduler suspends in place of critical sections.
*/
#include "FreeRTOS.h"
#include "task.h"
#include "partest.h"
/*-----------------------------------------------------------
* Simple parallel port IO routines for the FED 40pin demo board.
* The four LED's are connected to D4 to D7.
*-----------------------------------------------------------*/
#define partstBIT_AS_OUTPUT ( ( unsigned portSHORT ) 0 )
#define partstSET_OUTPUT ( ( unsigned portSHORT ) 1 )
#define partstCLEAR_OUTPUT ( ( unsigned portSHORT ) 0 )
#define partstENABLE_GENERAL_IO ( ( unsigned portCHAR ) 7 )
/*-----------------------------------------------------------*/
void vParTestInitialise( void )
{
/* Set the top four bits of port D to output. */
TRISDbits.TRISD7 = partstBIT_AS_OUTPUT;
TRISDbits.TRISD6 = partstBIT_AS_OUTPUT;
TRISDbits.TRISD5 = partstBIT_AS_OUTPUT;
TRISDbits.TRISD4 = partstBIT_AS_OUTPUT;
/* Start with all bits off. */
PORTDbits.RD7 = partstCLEAR_OUTPUT;
PORTDbits.RD6 = partstCLEAR_OUTPUT;
PORTDbits.RD5 = partstCLEAR_OUTPUT;
PORTDbits.RD4 = partstCLEAR_OUTPUT;
/* Enable the driver. */
ADCON1 = partstENABLE_GENERAL_IO;
TRISEbits.TRISE2 = partstBIT_AS_OUTPUT;
PORTEbits.RE2 = partstSET_OUTPUT;
}
/*-----------------------------------------------------------*/
void vParTestSetLED( unsigned portBASE_TYPE uxLED, portBASE_TYPE xValue )
{
/* We are only using the top nibble, so LED 0 corresponds to bit 4. */
vTaskSuspendAll();
{
switch( uxLED )
{
case 3 : PORTDbits.RD7 = ( portSHORT ) xValue;
break;
case 2 : PORTDbits.RD6 = ( portSHORT ) xValue;
break;
case 1 : PORTDbits.RD5 = ( portSHORT ) xValue;
break;
case 0 : PORTDbits.RD4 = ( portSHORT ) xValue;
break;
default : /* There are only 4 LED's. */
break;
}
}
xTaskResumeAll();
}
/*-----------------------------------------------------------*/
void vParTestToggleLED( unsigned portBASE_TYPE uxLED )
{
/* We are only using the top nibble, so LED 0 corresponds to bit 4. */
vTaskSuspendAll();
{
switch( uxLED )
{
case 3 : PORTDbits.RD7 = !( PORTDbits.RD7 );
break;
case 2 : PORTDbits.RD6 = !( PORTDbits.RD6 );
break;
case 1 : PORTDbits.RD5 = !( PORTDbits.RD5 );
break;
case 0 : PORTDbits.RD4 = !( PORTDbits.RD4 );
break;
default : /* There are only 4 LED's. */
break;
}
}
xTaskResumeAll();
}

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20080212/Demo/PIC18_MPLAB/main1.c Normal file
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/*
FreeRTOS.org V4.7.1 - Copyright (C) 2003-2008 Richard Barry.
This file is part of the FreeRTOS.org distribution.
FreeRTOS.org is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 2 of the License, or
(at your option) any later version.
FreeRTOS.org is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with FreeRTOS.org; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
A special exception to the GPL can be applied should you wish to distribute
a combined work that includes FreeRTOS.org, without being obliged to provide
the source code for any proprietary components. See the licensing section
of http://www.FreeRTOS.org for full details of how and when the exception
can be applied.
***************************************************************************
Please ensure to read the configuration and relevant port sections of the
online documentation.
+++ http://www.FreeRTOS.org +++
Documentation, latest information, license and contact details.
+++ http://www.SafeRTOS.com +++
A version that is certified for use in safety critical systems.
+++ http://www.OpenRTOS.com +++
Commercial support, development, porting, licensing and training services.
***************************************************************************
*/
/*
* Instead of the normal single demo application, the PIC18F demo is split
* into several smaller programs of which this is the first. This enables the
* demo's to be executed on the RAM limited 40 pin devices. The 64 and 80 pin
* devices require a more costly development platform and are not so readily
* available.
*
* The RTOSDemo1 project is configured for a PIC18F452 device. Main1.c starts 5
* tasks (including the idle task).
*
* The first task runs at the idle priority. It repeatedly performs a 32bit
* calculation and checks it's result against the expected value. This checks
* that the temporary storage utilised by the compiler to hold intermediate
* results does not get corrupted when the task gets switched in and out. See
* demo/common/minimal/integer.c for more information.
*
* The second and third tasks pass an incrementing value between each other on
* a message queue. See demo/common/minimal/PollQ.c for more information.
*
* Main1.c also creates a check task. This periodically checks that all the
* other tasks are still running and have not experienced any unexpected
* results. If all the other tasks are executing correctly an LED is flashed
* once every mainCHECK_PERIOD milliseconds. If any of the tasks have not
* executed, or report and error, the frequency of the LED flash will increase
* to mainERROR_FLASH_RATE.
*
* On entry to main an 'X' is transmitted. Monitoring the serial port using a
* dumb terminal allows for verification that the device is not continuously
* being reset (no more than one 'X' should be transmitted).
*
* http://www.FreeRTOS.org contains important information on the use of the
* PIC18F port.
*/
/*
Changes from V2.0.0
+ Delay periods are now specified using variables and constants of
portTickType rather than unsigned portLONG.
*/
/* Scheduler include files. */
#include "FreeRTOS.h"
#include "task.h"
/* Demo app include files. */
#include "pollq.h"
#include "integer.h"
#include "partest.h"
#include "serial.h"
/* The period between executions of the check task before and after an error
has been discovered. If an error has been discovered the check task runs
more frequently - increasing the LED flash rate. */
#define mainNO_ERROR_CHECK_PERIOD ( ( portTickType ) 1000 / portTICK_RATE_MS )
#define mainERROR_CHECK_PERIOD ( ( portTickType ) 100 / portTICK_RATE_MS )
/* Priority definitions for some of the tasks. Other tasks just use the idle
priority. */
#define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
#define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
/* The LED that is flashed by the check task. */
#define mainCHECK_TASK_LED ( 0 )
/* Constants required for the communications. Only one character is ever
transmitted. */
#define mainCOMMS_QUEUE_LENGTH ( 5 )
#define mainNO_BLOCK ( ( portTickType ) 0 )
#define mainBAUD_RATE ( ( unsigned portLONG ) 9600 )
/*
* The task function for the "Check" task.
*/
static void vErrorChecks( void *pvParameters );
/*
* Checks the unique counts of other tasks to ensure they are still operational.
* Returns pdTRUE if an error is detected, otherwise pdFALSE.
*/
static portBASE_TYPE prvCheckOtherTasksAreStillRunning( void );
/*-----------------------------------------------------------*/
/* Creates the tasks, then starts the scheduler. */
void main( void )
{
/* Initialise the required hardware. */
vParTestInitialise();
vPortInitialiseBlocks();
/* Send a character so we have some visible feedback of a reset. */
xSerialPortInitMinimal( mainBAUD_RATE, mainCOMMS_QUEUE_LENGTH );
xSerialPutChar( NULL, 'X', mainNO_BLOCK );
/* Start the standard demo tasks found in the demo\common directory. */
vStartIntegerMathTasks( tskIDLE_PRIORITY );
vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
/* Start the check task defined in this file. */
xTaskCreate( vErrorChecks, ( const portCHAR * const ) "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
/* Start the scheduler. Will never return here. */
vTaskStartScheduler();
}
/*-----------------------------------------------------------*/
static void vErrorChecks( void *pvParameters )
{
portTickType xDelayTime = mainNO_ERROR_CHECK_PERIOD;
portBASE_TYPE xErrorOccurred;
/* Cycle for ever, delaying then checking all the other tasks are still
operating without error. */
for( ;; )
{
/* Wait until it is time to check the other tasks. */
vTaskDelay( xDelayTime );
/* Check all the other tasks are running, and running without ever
having an error. */
xErrorOccurred = prvCheckOtherTasksAreStillRunning();
/* If an error was detected increase the frequency of the LED flash. */
if( xErrorOccurred == pdTRUE )
{
xDelayTime = mainERROR_CHECK_PERIOD;
}
/* Flash the LED for visual feedback. */
vParTestToggleLED( mainCHECK_TASK_LED );
}
}
/*-----------------------------------------------------------*/
static portBASE_TYPE prvCheckOtherTasksAreStillRunning( void )
{
portBASE_TYPE xErrorHasOccurred = pdFALSE;
if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
{
xErrorHasOccurred = pdTRUE;
}
if( xArePollingQueuesStillRunning() != pdTRUE )
{
xErrorHasOccurred = pdTRUE;
}
return xErrorHasOccurred;
}
/*-----------------------------------------------------------*/

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/*
FreeRTOS.org V4.7.1 - Copyright (C) 2003-2008 Richard Barry.
This file is part of the FreeRTOS.org distribution.
FreeRTOS.org is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 2 of the License, or
(at your option) any later version.
FreeRTOS.org is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with FreeRTOS.org; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
A special exception to the GPL can be applied should you wish to distribute
a combined work that includes FreeRTOS.org, without being obliged to provide
the source code for any proprietary components. See the licensing section
of http://www.FreeRTOS.org for full details of how and when the exception
can be applied.
***************************************************************************
Please ensure to read the configuration and relevant port sections of the
online documentation.
+++ http://www.FreeRTOS.org +++
Documentation, latest information, license and contact details.
+++ http://www.SafeRTOS.com +++
A version that is certified for use in safety critical systems.
+++ http://www.OpenRTOS.com +++
Commercial support, development, porting, licensing and training services.
***************************************************************************
*/
/*
* Instead of the normal single demo application, the PIC18F demo is split
* into several smaller programs of which this is the second. This enables the
* demo's to be executed on the RAM limited 40 pin devices. The 64 and 80 pin
* devices require a more costly development platform and are not so readily
* available.
*
* The RTOSDemo2 project is configured for a PIC18F452 device. Main2.c starts
* 5 tasks (including the idle task).
*
* The first, second and third tasks do nothing but flash an LED. This gives
* visual feedback that everything is executing as expected. One task flashes
* an LED every 333ms (i.e. on and off every 333/2 ms), then next every 666ms
* and the last every 999ms.
*
* The last task runs at the idle priority. It repeatedly performs a 32bit
* calculation and checks it's result against the expected value. This checks
* that the temporary storage utilised by the compiler to hold intermediate
* results does not get corrupted when the task gets switched in and out.
* should the calculation ever provide an incorrect result the final LED is
* turned on.
*
* On entry to main() an 'X' is transmitted. Monitoring the serial port using a
* dumb terminal allows for verification that the device is not continuously
* being reset (no more than one 'X' should be transmitted).
*
* http://www.FreeRTOS.org contains important information on the use of the
* PIC18F port.
*/
/*
Changes from V2.0.0
+ Delay periods are now specified using variables and constants of
portTickType rather than unsigned portLONG.
*/
/* Scheduler include files. */
#include "FreeRTOS.h"
#include "task.h"
/* Demo app include files. */
#include "flash.h"
#include "partest.h"
#include "serial.h"
/* Priority definitions for the LED tasks. Other tasks just use the idle
priority. */
#define mainLED_FLASH_PRIORITY ( tskIDLE_PRIORITY + ( unsigned portBASE_TYPE ) 1 )
/* The LED that is lit when should the calculation fail. */
#define mainCHECK_TASK_LED ( ( unsigned portBASE_TYPE ) 3 )
/* Constants required for the communications. Only one character is ever
transmitted. */
#define mainCOMMS_QUEUE_LENGTH ( ( unsigned portBASE_TYPE ) 5 )
#define mainNO_BLOCK ( ( portTickType ) 0 )
#define mainBAUD_RATE ( ( unsigned portLONG ) 9600 )
/*
* The task that performs the 32 bit calculation at the idle priority.
*/
static void vCalculationTask( void *pvParameters );
/*-----------------------------------------------------------*/
/* Creates the tasks, then starts the scheduler. */
void main( void )
{
/* Initialise the required hardware. */
vParTestInitialise();
vPortInitialiseBlocks();
/* Send a character so we have some visible feedback of a reset. */
xSerialPortInitMinimal( mainBAUD_RATE, mainCOMMS_QUEUE_LENGTH );
xSerialPutChar( NULL, 'X', mainNO_BLOCK );
/* Start the standard LED flash tasks as defined in demo/common/minimal. */
vStartLEDFlashTasks( mainLED_FLASH_PRIORITY );
/* Start the check task defined in this file. */
xTaskCreate( vCalculationTask, ( const portCHAR * const ) "Check", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
/* Start the scheduler. */
vTaskStartScheduler();
}
/*-----------------------------------------------------------*/
static void vCalculationTask( void *pvParameters )
{
volatile unsigned long ulCalculatedValue; /* Volatile to ensure optimisation is minimal. */
/* Continuously perform a calculation. If the calculation result is ever
incorrect turn the LED on. */
for( ;; )
{
/* A good optimising compiler would just remove all this! */
ulCalculatedValue = 1234UL;
ulCalculatedValue *= 99UL;
if( ulCalculatedValue != 122166UL )
{
vParTestSetLED( mainCHECK_TASK_LED, pdTRUE );
}
ulCalculatedValue *= 9876UL;
if( ulCalculatedValue != 1206511416UL )
{
vParTestSetLED( mainCHECK_TASK_LED, pdTRUE );
}
ulCalculatedValue /= 15UL;
if( ulCalculatedValue != 80434094UL )
{
vParTestSetLED( mainCHECK_TASK_LED, pdTRUE );
}
ulCalculatedValue += 918273UL;
if( ulCalculatedValue != 81352367UL )
{
vParTestSetLED( mainCHECK_TASK_LED, pdTRUE );
}
}
}
/*-----------------------------------------------------------*/

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/*
FreeRTOS.org V4.7.1 - Copyright (C) 2003-2008 Richard Barry.
This file is part of the FreeRTOS.org distribution.
FreeRTOS.org is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 2 of the License, or
(at your option) any later version.
FreeRTOS.org is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with FreeRTOS.org; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
A special exception to the GPL can be applied should you wish to distribute
a combined work that includes FreeRTOS.org, without being obliged to provide
the source code for any proprietary components. See the licensing section
of http://www.FreeRTOS.org for full details of how and when the exception
can be applied.
***************************************************************************
Please ensure to read the configuration and relevant port sections of the
online documentation.
+++ http://www.FreeRTOS.org +++
Documentation, latest information, license and contact details.
+++ http://www.SafeRTOS.com +++
A version that is certified for use in safety critical systems.
+++ http://www.OpenRTOS.com +++
Commercial support, development, porting, licensing and training services.
***************************************************************************
*/
/*
* THIS DEMO APPLICATION REQUIRES A LOOPBACK CONNECTOR TO BE FITTED TO THE PIC
* USART PORT - connect pin 2 to pin 3 on J2.
*
* Instead of the normal single demo application, the PIC18F demo is split
* into several smaller programs of which this is the third. This enables the
* demo's to be executed on the RAM limited 40 pin devices. The 64 and 80 pin
* devices require a more costly development platform and are not so readily
* available.
*
* The RTOSDemo3 project is configured for a PIC18F452 device. Main3.c starts
* 5 tasks (including the idle task).
*
* The first task repeatedly transmits a string of characters on the PIC USART
* port. The second task receives the characters, checking that the correct
* sequence is maintained (i.e. what is transmitted is identical to that
* received). Each transmitted and each received character causes an LED to
* flash. See demo/common/minimal/comtest. c for more information.
*
* The third task continuously performs a 32 bit calculation. This is a good
* test of the context switch mechanism as the 8 bit architecture requires
* the use of several file registers to perform the 32 bit operations. See
* demo/common/minimal/integer. c for more information.
*
* The third task is the check task. This periodically checks that the other
* tasks are still running and have not experienced any errors. If no errors
* have been reported by either the comms or integer tasks an LED is flashed
* with a frequency mainNO_ERROR_CHECK_PERIOD. If an error is discovered the
* frequency is increased to mainERROR_FLASH_RATE.
*
* The check task also provides a visual indication of a system reset by
* flashing the one remaining LED (mainRESET_LED) when it starts. After
* this initial flash mainRESET_LED should remain off.
*
* http://www.FreeRTOS.org contains important information on the use of the
* PIC18F port.
*/
/*
Changes from V2.0.0
+ Delay periods are now specified using variables and constants of
portTickType rather than unsigned portLONG.
*/
/* Scheduler include files. */
#include "FreeRTOS.h"
#include "task.h"
/* Demo app include files. */
#include "partest.h"
#include "serial.h"
#include "comtest.h"
#include "integer.h"
/* Priority definitions for the LED tasks. Other tasks just use the idle
priority. */
#define mainCOMM_TEST_PRIORITY ( tskIDLE_PRIORITY + ( unsigned portBASE_TYPE ) 2 )
#define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + ( unsigned portBASE_TYPE ) 3 )
/* The period between executions of the check task before and after an error
has been discovered. If an error has been discovered the check task runs
more frequently - increasing the LED flash rate. */
#define mainNO_ERROR_CHECK_PERIOD ( ( portTickType ) 1000 / portTICK_RATE_MS )
#define mainERROR_CHECK_PERIOD ( ( portTickType ) 100 / portTICK_RATE_MS )
/* The period for which mainRESET_LED remain on every reset. */
#define mainRESET_LED_PERIOD ( ( portTickType ) 500 / portTICK_RATE_MS )
/* The LED that is toggled whenever a character is transmitted.
mainCOMM_TX_RX_LED + 1 will be toggled every time a character is received. */
#define mainCOMM_TX_RX_LED ( ( unsigned portBASE_TYPE ) 2 )
/* The LED that is flashed by the check task at a rate that indicates the
error status. */
#define mainCHECK_TASK_LED ( ( unsigned portBASE_TYPE ) 1 )
/* The LED that is flashed once upon every reset. */
#define mainRESET_LED ( ( unsigned portBASE_TYPE ) 0 )
/* Constants required for the communications. */
#define mainCOMMS_QUEUE_LENGTH ( ( unsigned portBASE_TYPE ) 5 )
#define mainBAUD_RATE ( ( unsigned portLONG ) 57600 )
/*-----------------------------------------------------------*/
/*
* Task function which periodically checks the other tasks for errors. Flashes
* an LED at a rate that indicates whether an error has ever been detected.
*/
static void vErrorChecks( void *pvParameters );
/*-----------------------------------------------------------*/
/* Creates the tasks, then starts the scheduler. */
void main( void )
{
/* Initialise the required hardware. */
vParTestInitialise();
/* Initialise the block memory allocator. */
vPortInitialiseBlocks();
/* Start the standard comtest tasks as defined in demo/common/minimal. */
vAltStartComTestTasks( mainCOMM_TEST_PRIORITY, mainBAUD_RATE, mainCOMM_TX_RX_LED );
/* Start the standard 32bit calculation task as defined in
demo/common/minimal. */
vStartIntegerMathTasks( tskIDLE_PRIORITY );
/* Start the check task defined in this file. */
xTaskCreate( vErrorChecks, ( const portCHAR * const ) "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
/* Start the scheduler. This will never return. */
vTaskStartScheduler();
}
/*-----------------------------------------------------------*/
static void vErrorChecks( void *pvParameters )
{
portTickType xDelayTime = mainNO_ERROR_CHECK_PERIOD;
volatile unsigned portLONG ulDummy = 3UL;
/* Toggle the LED so we can see when a reset occurs. */
vParTestSetLED( mainRESET_LED, pdTRUE );
vTaskDelay( mainRESET_LED_PERIOD );
vParTestSetLED( mainRESET_LED, pdFALSE );
/* Cycle for ever, delaying then checking all the other tasks are still
operating without error. */
for( ;; )
{
/* Wait until it is time to check the other tasks. */
vTaskDelay( xDelayTime );
/* Perform an integer calculation - just to ensure the registers
get used. The result is not important. */
ulDummy *= 3UL;
/* Check all the other tasks are running, and running without ever
having an error. The delay period is lowered if an error is reported,
causing the LED to flash at a higher rate. */
if( xAreIntegerMathsTaskStillRunning() == pdFALSE )
{
xDelayTime = mainERROR_CHECK_PERIOD;
}
if( xAreComTestTasksStillRunning() == pdFALSE )
{
xDelayTime = mainERROR_CHECK_PERIOD;
}
/* Flash the LED for visual feedback. The rate of the flash will
indicate the health of the system. */
vParTestToggleLED( mainCHECK_TASK_LED );
}
}
/*-----------------------------------------------------------*/

3
20080212/Demo/PIC18_MPLAB/makebin1.bat Normal file
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@ -0,0 +1,3 @@
del rtosdemo.hex
copy rtosdemo1.hex rtosdemo.hex
hex2bin rtosdemo.hex

3
20080212/Demo/PIC18_MPLAB/makebin2.bat Normal file
View file

@ -0,0 +1,3 @@
del rtosdemo.hex
copy rtosdemo2.hex rtosdemo.hex
hex2bin rtosdemo.hex

3
20080212/Demo/PIC18_MPLAB/makebin3.bat Normal file
View file

@ -0,0 +1,3 @@
del rtosdemo.hex
copy rtosdemo3.hex rtosdemo.hex
hex2bin rtosdemo.hex

12
20080212/Demo/PIC18_MPLAB/readme.txt Normal file
View file

@ -0,0 +1,12 @@
Unfortunately the project files:
RTOSDemo1.mcp
RTOSDemo2.mcp
and RTOSDemo3.mcp
contain absolute paths. I don't know how to get around this, so if somebody knows, let me know!
Edit the paths in a text editor before use.
See the PIC port section of www.FreeRTOS.org for more information.

BIN
20080212/Demo/PIC18_MPLAB/rtosdemo.mcw Normal file
View file

Binary file not shown.

74
20080212/Demo/PIC18_MPLAB/rtosdemo1.mcp Normal file
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@ -0,0 +1,74 @@
[HEADER]
magic_cookie={66E99B07-E706-4689-9E80-9B2582898A13}
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dir_tmp=
dir_sin=
dir_inc=.;.\include;..\include;..\..\include;..\..\..\include;..\..\Source\include;..\..\..\Source\include;..\Demo\PIC18_MPLAB;..\..\..\Demo\PIC18_MPLAB;..\..\..\..\Demo\PIC18_MPLAB;C:\Devtools\Microchip\MCC18\h;..\Common\include;..\..\Common\include
dir_lib=C:\Devtools\Microchip\MCC18\lib
dir_lkr=
[CAT_FILTERS]
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filter_inc=*.h;*.inc
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file_001=..\..\Source\queue.c
file_002=..\..\Source\list.c
file_003=..\..\Source\portable\MPLAB\PIC18F\port.c
file_004=..\Common\Minimal\PollQ.c
file_005=main1.c
file_006=ParTest\ParTest.c
file_007=serial\serial.c
file_008=..\Common\Minimal\integer.c
file_009=..\..\Source\portable\MemMang\heap_1.c
file_010=..\..\Source\portable\MPLAB\PIC18F\portmacro.h
file_011=..\..\Source\include\task.h
file_012=..\..\Source\include\list.h
file_013=..\..\Source\include\portable.h
file_014=..\..\Source\include\projdefs.h
file_015=..\..\Source\include\queue.h
file_016=..\Common\include\integer.h
file_017=..\Common\include\PollQ.h
file_018=..\Common\include\serial.h
file_019=FreeRTOSConfig.h
file_020=18f452.lkr
[SUITE_INFO]
suite_guid={5B7D72DD-9861-47BD-9F60-2BE967BF8416}
suite_state=
[TOOL_SETTINGS]
TS{DD2213A8-6310-47B1-8376-9430CDFC013F}=/aINHX8M
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TS{C2AF05E7-1416-4625-923D-E114DB6E2B96}=-w3 -DMPLAB_PIC18F_PORT -Ls -Opa- -nw 2074 -nw 2066
TS{ADE93A55-C7C7-4D4D-A4BA-59305F7D0391}=
[INSTRUMENTED_TRACE]
enable=0
transport=0
format=0

68
20080212/Demo/PIC18_MPLAB/rtosdemo2.mcp Normal file
View file

@ -0,0 +1,68 @@
[HEADER]
magic_cookie={66E99B07-E706-4689-9E80-9B2582898A13}
file_version=1.0
[PATH_INFO]
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dir_bin=
dir_tmp=
dir_sin=
dir_inc=.;.\include;..\include;..\..\include;..\..\..\include;..\..\Source\include;..\..\..\Source\include;..\Demo\PIC18_MPLAB;..\..\..\Demo\PIC18_MPLAB;..\..\..\..\Demo\PIC18_MPLAB;C:\Devtools\Microchip\MCC18\h;..\Common\include;..\..\Common\include
dir_lib=C:\Devtools\Microchip\MCC18\lib
dir_lkr=
[CAT_FILTERS]
filter_src=*.asm;*.c
filter_inc=*.h;*.inc
filter_obj=*.o
filter_lib=*.lib
filter_lkr=*.lkr
[OTHER_FILES]
file_000=no
file_001=no
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file_003=no
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file_006=..\..\Source\portable\MemMang\heap_1.c
file_007=..\Common\Minimal\flash.c
file_008=..\..\Source\portable\MPLAB\PIC18F\port.c
file_009=..\..\Source\portable\MPLAB\PIC18F\portmacro.h
file_010=..\..\Source\include\task.h
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file_012=..\..\Source\include\portable.h
file_013=..\..\Source\include\projdefs.h
file_014=..\..\Source\include\queue.h
file_015=..\Common\include\serial.h
file_016=..\Common\include\flash.h
file_017=FreeRTOSConfig.h
file_018=18f452.lkr
[SUITE_INFO]
suite_guid={5B7D72DD-9861-47BD-9F60-2BE967BF8416}
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[TOOL_SETTINGS]
TS{DD2213A8-6310-47B1-8376-9430CDFC013F}=/aINHX8M
TS{BFD27FBA-4A02-4C0E-A5E5-B812F3E7707C}=/m"$(BINDIR_)$(TARGETBASE).map" /aINHX8M /o"$(TARGETBASE).cof"
TS{C2AF05E7-1416-4625-923D-E114DB6E2B96}=-DMPLAB_PIC18F_PORT -Ls -Opa- -nw 2074 -nw 2066
TS{ADE93A55-C7C7-4D4D-A4BA-59305F7D0391}=
[TOOL_LOC_STAMPS]
tool_loc{96C98149-AA1B-4CF9-B967-FAE79CAB663C}=D:\DevTools\mcc18\bin\mplink.exe
tool_loc{E56A1C86-9D32-4DF6-8C34-FE0388B1B644}=D:\DevTools\mcc18\bin\mcc18.exe

70
20080212/Demo/PIC18_MPLAB/rtosdemo3.mcp Normal file
View file

@ -0,0 +1,70 @@
[HEADER]
magic_cookie={66E99B07-E706-4689-9E80-9B2582898A13}
file_version=1.0
[PATH_INFO]
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dir_sin=
dir_inc=.;.\include;..\include;..\..\include;..\..\..\include;..\..\Source\include;..\..\..\Source\include;..\Demo\PIC18_MPLAB;..\..\..\Demo\PIC18_MPLAB;..\..\..\..\Demo\PIC18_MPLAB;C:\Devtools\Microchip\MCC18\h;..\Common\include;..\..\Common\include
dir_lib=C:\Devtools\Microchip\MCC18\lib
dir_lkr=
[CAT_FILTERS]
filter_src=*.asm;*.c
filter_inc=*.h;*.inc
filter_obj=*.o
filter_lib=*.lib
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file_000=no
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file_004=serial\serial.c
file_005=main3.c
file_006=..\Common\Minimal\comtest.c
file_007=..\Common\Minimal\integer.c
file_008=..\..\Source\portable\MemMang\heap_1.c
file_009=ParTest\ParTest.c
file_010=..\..\Source\portable\MPLAB\PIC18F\portmacro.h
file_011=..\..\Source\include\task.h
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file_013=..\..\Source\include\portable.h
file_014=..\..\Source\include\projdefs.h
file_015=..\..\Source\include\queue.h
file_016=..\Common\include\serial.h
file_017=..\Common\include\comtest.h
file_018=FreeRTOSConfig.h
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[SUITE_INFO]
suite_guid={5B7D72DD-9861-47BD-9F60-2BE967BF8416}
suite_state=
[TOOL_SETTINGS]
TS{DD2213A8-6310-47B1-8376-9430CDFC013F}=/aINHX8M
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TS{C2AF05E7-1416-4625-923D-E114DB6E2B96}=-DMPLAB_PIC18F_PORT -Ls -Ou- -Ot- -Ob- -Op- -Or- -Od- -Opa- -nw 2074 -nw 2066
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238
20080212/Demo/PIC18_MPLAB/serial/serial.c Normal file
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@ -0,0 +1,238 @@
/*
FreeRTOS.org V4.7.1 - Copyright (C) 2003-2008 Richard Barry.
This file is part of the FreeRTOS.org distribution.
FreeRTOS.org is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 2 of the License, or
(at your option) any later version.
FreeRTOS.org is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with FreeRTOS.org; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
A special exception to the GPL can be applied should you wish to distribute
a combined work that includes FreeRTOS.org, without being obliged to provide
the source code for any proprietary components. See the licensing section
of http://www.FreeRTOS.org for full details of how and when the exception
can be applied.
***************************************************************************
Please ensure to read the configuration and relevant port sections of the
online documentation.
+++ http://www.FreeRTOS.org +++
Documentation, latest information, license and contact details.
+++ http://www.SafeRTOS.com +++
A version that is certified for use in safety critical systems.
+++ http://www.OpenRTOS.com +++
Commercial support, development, porting, licensing and training services.
***************************************************************************
*/
/*
Changes from V1.2.5
+ Clear overrun errors in the Rx ISR. Overrun errors prevent any further
characters being received.
Changes from V2.0.0
+ Use portTickType in place of unsigned pdLONG for delay periods.
+ cQueueReieveFromISR() used in place of xQueueReceive() in ISR.
*/
/* BASIC INTERRUPT DRIVEN SERIAL PORT DRIVER. */
/* Scheduler header files. */
#include "FreeRTOS.h"
#include "task.h"
#include "serial.h"
#include "queue.h"
/*
* Prototypes for ISR's. The PIC architecture means that these functions
* have to be called from port.c. The prototypes are not however included
* in the header as the header is common to all ports.
*/
void vSerialTxISR( void );
void vSerialRxISR( void );
/* Hardware pin definitions. */
#define serTX_PIN TRISCbits.TRISC6
#define serRX_PIN TRISCbits.TRISC7
/* Bit/register definitions. */
#define serINPUT ( 1 )
#define serOUTPUT ( 0 )
#define serTX_ENABLE ( ( unsigned portSHORT ) 1 )
#define serRX_ENABLE ( ( unsigned portSHORT ) 1 )
#define serHIGH_SPEED ( ( unsigned portSHORT ) 1 )
#define serCONTINUOUS_RX ( ( unsigned portSHORT ) 1 )
#define serCLEAR_OVERRUN ( ( unsigned portSHORT ) 0 )
#define serINTERRUPT_ENABLED ( ( unsigned portSHORT ) 1 )
#define serINTERRUPT_DISABLED ( ( unsigned portSHORT ) 0 )
/* All ISR's use the PIC18 low priority interrupt. */
#define serLOW_PRIORITY ( 0 )
/*-----------------------------------------------------------*/
/* Queues to interface between comms API and interrupt routines. */
static xQueueHandle xRxedChars;
static xQueueHandle xCharsForTx;
/*-----------------------------------------------------------*/
xComPortHandle xSerialPortInitMinimal( unsigned portLONG ulWantedBaud, unsigned portBASE_TYPE uxQueueLength )
{
unsigned portLONG ulBaud;
/* Calculate the baud rate generator constant.
SPBRG = ( (FOSC / Desired Baud Rate) / 16 ) - 1 */
ulBaud = configCPU_CLOCK_HZ / ulWantedBaud;
ulBaud /= ( unsigned portLONG ) 16;
ulBaud -= ( unsigned portLONG ) 1;
/* Create the queues used by the ISR's to interface to tasks. */
xRxedChars = xQueueCreate( uxQueueLength, ( unsigned portBASE_TYPE ) sizeof( portCHAR ) );
xCharsForTx = xQueueCreate( uxQueueLength, ( unsigned portBASE_TYPE ) sizeof( portCHAR ) );
portENTER_CRITICAL();
{
/* Start with config registers cleared, so we can just set the wanted
bits. */
TXSTA = ( unsigned portSHORT ) 0;
RCSTA = ( unsigned portSHORT ) 0;
/* Set the baud rate generator using the above calculated constant. */
SPBRG = ( unsigned portCHAR ) ulBaud;
/* Setup the IO pins to enable the USART IO. */
serTX_PIN = serOUTPUT;
serRX_PIN = serINPUT;
/* Set the serial interrupts to use the same priority as the tick. */
IPR1bits.TXIP = serLOW_PRIORITY;
IPR1bits.RCIP = serLOW_PRIORITY;
/* Setup Tx configuration. */
TXSTAbits.BRGH = serHIGH_SPEED;
TXSTAbits.TXEN = serTX_ENABLE;
/* Setup Rx configuration. */
RCSTAbits.SPEN = serRX_ENABLE;
RCSTAbits.CREN = serCONTINUOUS_RX;
/* Enable the Rx interrupt now, the Tx interrupt will get enabled when
we have data to send. */
PIE1bits.RCIE = serINTERRUPT_ENABLED;
}
portEXIT_CRITICAL();
/* Unlike other ports, this serial code does not allow for more than one
com port. We therefore don't return a pointer to a port structure and
can instead just return NULL. */
return NULL;
}
/*-----------------------------------------------------------*/
xComPortHandle xSerialPortInit( eCOMPort ePort, eBaud eWantedBaud, eParity eWantedParity, eDataBits eWantedDataBits, eStopBits eWantedStopBits, unsigned portBASE_TYPE uxBufferLength )
{
/* This is not implemented in this port.
Use xSerialPortInitMinimal() instead. */
}
/*-----------------------------------------------------------*/
portBASE_TYPE xSerialGetChar( xComPortHandle pxPort, signed portCHAR *pcRxedChar, portTickType xBlockTime )
{
/* Get the next character from the buffer. Return false if no characters
are available, or arrive before xBlockTime expires. */
if( xQueueReceive( xRxedChars, pcRxedChar, xBlockTime ) )
{
return pdTRUE;
}
else
{
return pdFALSE;
}
}
/*-----------------------------------------------------------*/
portBASE_TYPE xSerialPutChar( xComPortHandle pxPort, signed portCHAR cOutChar, portTickType xBlockTime )
{
/* Return false if after the block time there is no room on the Tx queue. */
if( xQueueSend( xCharsForTx, ( const void * ) &cOutChar, xBlockTime ) != pdPASS )
{
return pdFAIL;
}
/* Turn interrupt on - ensure the compiler only generates a single
instruction for this. */
PIE1bits.TXIE = serINTERRUPT_ENABLED;
return pdPASS;
}
/*-----------------------------------------------------------*/
void vSerialClose( xComPortHandle xPort )
{
/* Not implemented for this port.
To implement, turn off the interrupts and delete the memory
allocated to the queues. */
}
/*-----------------------------------------------------------*/
#pragma interruptlow vSerialRxISR save=PRODH, PRODL, TABLAT, section(".tmpdata")
void vSerialRxISR( void )
{
portCHAR cChar;
/* Get the character and post it on the queue of Rxed characters.
If the post causes a task to wake force a context switch as the woken task
may have a higher priority than the task we have interrupted. */
cChar = RCREG;
/* Clear any overrun errors. */
if( RCSTAbits.OERR )
{
RCSTAbits.CREN = serCLEAR_OVERRUN;
RCSTAbits.CREN = serCONTINUOUS_RX;
}
if( xQueueSendFromISR( xRxedChars, ( const void * ) &cChar, pdFALSE ) )
{
taskYIELD();
}
}
/*-----------------------------------------------------------*/
#pragma interruptlow vSerialTxISR save=PRODH, PRODL, TABLAT, section(".tmpdata")
void vSerialTxISR( void )
{
portCHAR cChar, cTaskWoken;
if( xQueueReceiveFromISR( xCharsForTx, &cChar, &cTaskWoken ) == pdTRUE )
{
/* Send the next character queued for Tx. */
TXREG = cChar;
}
else
{
/* Queue empty, nothing to send. */
PIE1bits.TXIE = serINTERRUPT_DISABLED;
}
}