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Add FreeRTOS-Plus directory.
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Richard Barry
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236
FreeRTOS/Demo/PIC18_WizC/Demo1/main.c
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FreeRTOS/Demo/PIC18_WizC/Demo1/main.c
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/*
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FreeRTOS V7.1.1 - Copyright (C) 2012 Real Time Engineers Ltd.
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***************************************************************************
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* *
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* FreeRTOS tutorial books are available in pdf and paperback. *
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* Complete, revised, and edited pdf reference manuals are also *
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* available. *
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* *
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* Purchasing FreeRTOS documentation will not only help you, by *
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* ensuring you get running as quickly as possible and with an *
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* in-depth knowledge of how to use FreeRTOS, it will also help *
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* the FreeRTOS project to continue with its mission of providing *
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* professional grade, cross platform, de facto standard solutions *
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* for microcontrollers - completely free of charge! *
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* *
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* >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
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* *
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* Thank you for using FreeRTOS, and thank you for your support! *
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* *
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***************************************************************************
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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 it under
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the terms of the GNU General Public License (version 2) as published by the
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Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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>>>NOTE<<< The modification to the GPL is included to allow you to
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distribute a combined work that includes FreeRTOS without being obliged to
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provide the source code for proprietary components outside of the FreeRTOS
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kernel. FreeRTOS is distributed in the hope that it will be useful, but
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WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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more details. You should have received a copy of the GNU General Public
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License and the FreeRTOS license exception along with FreeRTOS; if not it
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can be viewed here: http://www.freertos.org/a00114.html and also obtained
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by writing to Richard Barry, contact details for whom are available on the
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FreeRTOS WEB site.
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1 tab == 4 spaces!
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***************************************************************************
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* *
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* Having a problem? Start by reading the FAQ "My application does *
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* not run, what could be wrong? *
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* *
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* http://www.FreeRTOS.org/FAQHelp.html *
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* *
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***************************************************************************
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http://www.FreeRTOS.org - Documentation, training, latest information,
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license and contact details.
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http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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including FreeRTOS+Trace - an indispensable productivity tool.
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Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell
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the code with commercial support, indemnification, and middleware, under
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the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also
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provide a safety engineered and independently SIL3 certified version under
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the SafeRTOS brand: http://www.SafeRTOS.com.
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*/
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/*
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Changes from V3.0.0
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Changes from V3.0.1
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*/
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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 first. This enables the
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* demo's to be executed on the RAM limited PIC-devices.
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*
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* The Demo1 project is configured for a PIC18F4620 device. Main.c starts 9
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* tasks (including the idle task).
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* This first demo is included to do a quick check on the FreeRTOS
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* installation. It is also included to demonstrate a minimal project-setup
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* to use FreeRTOS in a wizC environment.
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*
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* Eight independant tasks are created. All tasks share the same taskcode.
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* Each task blinks a different led on portB. The blinkrate for each task
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* is different, but chosen in such a way that portB will show a binary
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* counter pattern. All blinkrates are derived from a single master-rate.
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* By default, this masterrate is set to 100 milliseconds. Although such
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* a low value will make it almost impossible to see some of the leds
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* actually blink, it is a good value when using the wizC-simulator.
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* When testing on a real chip, changing the value to eg. 500 milliseconds
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* would be appropiate.
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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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#define mainBLINK_LED_INTERVAL ( ( portTickType ) 100 / ( portTICK_RATE_MS ) )
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/* The LED that is flashed by the B0 task. */
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#define mainBLINK_LED0_PORT LATD
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#define mainBLINK_LED0_TRIS TRISD
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#define mainBLINK_LED0_PIN 0
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#define mainBLINK_LED0_INTERVAL ((mainBLINK_LED_INTERVAL) << (mainBLINK_LED0_PIN))
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/* The LED that is flashed by the B1 task. */
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#define mainBLINK_LED1_PORT LATD
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#define mainBLINK_LED1_TRIS TRISD
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#define mainBLINK_LED1_PIN 1
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#define mainBLINK_LED1_INTERVAL ((mainBLINK_LED_INTERVAL) << (mainBLINK_LED1_PIN))
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/* The LED that is flashed by the B2 task. */
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#define mainBLINK_LED2_PORT LATD
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#define mainBLINK_LED2_TRIS TRISD
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#define mainBLINK_LED2_PIN 2
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#define mainBLINK_LED2_INTERVAL ((mainBLINK_LED_INTERVAL) << (mainBLINK_LED2_PIN))
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/* The LED that is flashed by the B3 task. */
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#define mainBLINK_LED3_PORT LATD
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#define mainBLINK_LED3_TRIS TRISD
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#define mainBLINK_LED3_PIN 3
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#define mainBLINK_LED3_INTERVAL ((mainBLINK_LED_INTERVAL) << (mainBLINK_LED3_PIN))
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/* The LED that is flashed by the B4 task. */
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#define mainBLINK_LED4_PORT LATD
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#define mainBLINK_LED4_TRIS TRISD
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#define mainBLINK_LED4_PIN 4
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#define mainBLINK_LED4_INTERVAL ((mainBLINK_LED_INTERVAL) << (mainBLINK_LED4_PIN))
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/* The LED that is flashed by the B5 task. */
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#define mainBLINK_LED5_PORT LATD
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#define mainBLINK_LED5_TRIS TRISD
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#define mainBLINK_LED5_PIN 5
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#define mainBLINK_LED5_INTERVAL ((mainBLINK_LED_INTERVAL) << (mainBLINK_LED5_PIN))
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/* The LED that is flashed by the B6 task. */
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#define mainBLINK_LED6_PORT LATD
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#define mainBLINK_LED6_TRIS TRISD
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#define mainBLINK_LED6_PIN 6
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#define mainBLINK_LED6_INTERVAL ((mainBLINK_LED_INTERVAL) << (mainBLINK_LED6_PIN))
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/* The LED that is flashed by the B7 task. */
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#define mainBLINK_LED7_PORT LATD
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#define mainBLINK_LED7_TRIS TRISD
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#define mainBLINK_LED7_PIN 7
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#define mainBLINK_LED7_INTERVAL ((mainBLINK_LED_INTERVAL) << (mainBLINK_LED7_PIN))
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typedef struct {
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unsigned char *port;
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unsigned char *tris;
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unsigned char pin;
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portTickType interval;
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} SBLINK;
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const SBLINK sled0 = {&mainBLINK_LED0_PORT, &mainBLINK_LED0_TRIS, mainBLINK_LED0_PIN, mainBLINK_LED0_INTERVAL};
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const SBLINK sled1 = {&mainBLINK_LED1_PORT, &mainBLINK_LED1_TRIS, mainBLINK_LED1_PIN, mainBLINK_LED1_INTERVAL};
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const SBLINK sled2 = {&mainBLINK_LED2_PORT, &mainBLINK_LED2_TRIS, mainBLINK_LED2_PIN, mainBLINK_LED2_INTERVAL};
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const SBLINK sled3 = {&mainBLINK_LED3_PORT, &mainBLINK_LED3_TRIS, mainBLINK_LED3_PIN, mainBLINK_LED3_INTERVAL};
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const SBLINK sled4 = {&mainBLINK_LED4_PORT, &mainBLINK_LED4_TRIS, mainBLINK_LED4_PIN, mainBLINK_LED4_INTERVAL};
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const SBLINK sled5 = {&mainBLINK_LED5_PORT, &mainBLINK_LED5_TRIS, mainBLINK_LED5_PIN, mainBLINK_LED5_INTERVAL};
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const SBLINK sled6 = {&mainBLINK_LED6_PORT, &mainBLINK_LED6_TRIS, mainBLINK_LED6_PIN, mainBLINK_LED6_INTERVAL};
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const SBLINK sled7 = {&mainBLINK_LED7_PORT, &mainBLINK_LED7_TRIS, mainBLINK_LED7_PIN, mainBLINK_LED7_INTERVAL};
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/*
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* The task code for the "vBlink" task.
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*/
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static portTASK_FUNCTION_PROTO(vBlink, pvParameters);
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/*-----------------------------------------------------------*/
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/*
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* Creates the tasks, then starts the scheduler.
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*/
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void main( void )
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{
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/*
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* Start the blink tasks defined in this file.
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*/
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xTaskCreate( vBlink, "B0", configMINIMAL_STACK_SIZE, &sled0, tskIDLE_PRIORITY, NULL );
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xTaskCreate( vBlink, "B1", configMINIMAL_STACK_SIZE, &sled1, tskIDLE_PRIORITY, NULL );
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xTaskCreate( vBlink, "B2", configMINIMAL_STACK_SIZE, &sled2, tskIDLE_PRIORITY, NULL );
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xTaskCreate( vBlink, "B3", configMINIMAL_STACK_SIZE, &sled3, tskIDLE_PRIORITY, NULL );
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xTaskCreate( vBlink, "B4", configMINIMAL_STACK_SIZE, &sled4, tskIDLE_PRIORITY, NULL );
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xTaskCreate( vBlink, "B5", configMINIMAL_STACK_SIZE, &sled5, tskIDLE_PRIORITY, NULL );
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xTaskCreate( vBlink, "B6", configMINIMAL_STACK_SIZE, &sled6, tskIDLE_PRIORITY, NULL );
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xTaskCreate( vBlink, "B7", configMINIMAL_STACK_SIZE, &sled7, tskIDLE_PRIORITY, NULL );
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/*
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* Start the scheduler.
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*/
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vTaskStartScheduler( );
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while(1) /* This point should never be reached. */
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{
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}
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}
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/*-----------------------------------------------------------*/
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static portTASK_FUNCTION(vBlink, pvParameters)
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{
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unsigned char *Port = ((SBLINK *)pvParameters)->port;
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unsigned char *Tris = ((SBLINK *)pvParameters)->tris;
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unsigned char Pin = ((SBLINK *)pvParameters)->pin;
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portTickType Interval = ((SBLINK *)pvParameters)->interval;
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portTickType xLastWakeTime;
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/*
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* Initialize the hardware
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*/
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*Tris &= ~(1<<Pin); // Set the pin that is used by this task to ouput
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*Port &= ~(1<<Pin); // Drive the pin low
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/*
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* Initialise the xLastWakeTime variable with the current time.
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*/
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xLastWakeTime = xTaskGetTickCount();
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/*
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* Cycle for ever, delaying then toggle the LED.
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*/
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for( ;; )
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{
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/*
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* Wait until it is time to toggle
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*/
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vTaskDelayUntil( &xLastWakeTime, Interval );
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/*
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* Toggle the LED for visual feedback.
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*/
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*Port ^= 1<<Pin;
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}
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}
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