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Add FreeRTOS-Plus directory.
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Richard Barry
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212
FreeRTOS/Demo/PIC18_WizC/Demo5/main.c
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FreeRTOS/Demo/PIC18_WizC/Demo5/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 fifth. 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 Demo5 project is configured for a PIC18F4620 device. Main.c starts 13
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* tasks (including the idle task). See the indicated files in the demo/common
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* directory for more information.
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*
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* demo/common/minimal/flop.c: Creates 8 tasks
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* demo/common/minimal/flash.c: Creates 3 tasks
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*
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* Main.c also creates a check task. This periodically checks that all the
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* other tasks are still running and have not experienced any unexpected
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* results. If all the other tasks are executing correctly an LED is flashed
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* once every mainCHECK_PERIOD milliseconds. If any of the tasks have not
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* executed, or report an error, the frequency of the LED flash will increase
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* to mainERROR_FLASH_RATE.
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*
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* On entry to main an 'X' is transmitted. Monitoring the serial port using a
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* dumb terminal allows for verification that the device is not continuously
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* being reset (no more than one 'X' should be transmitted).
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*
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* http://www.FreeRTOS.org contains important information on the use of the
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* wizC PIC18F port.
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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 "flop.h"
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#include "flash.h"
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#include "partest.h"
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#include "serial.h"
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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 ) 10000 / portTICK_RATE_MS )
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#define mainERROR_CHECK_PERIOD ( ( portTickType ) 1000 / portTICK_RATE_MS )
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#define mainCHECK_TASK_LED ( ( unsigned char ) 3 )
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/* Priority definitions for some of the tasks. Other tasks just use the idle
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priority. */
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#define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + ( unsigned char ) 2 )
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#define mainLED_FLASH_PRIORITY ( tskIDLE_PRIORITY + ( unsigned char ) 1 )
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/* Constants required for the communications. Only one character is ever
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transmitted. */
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#define mainCOMMS_QUEUE_LENGTH ( ( unsigned char ) 5 )
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#define mainNO_BLOCK ( ( portTickType ) 0 )
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#define mainBAUD_RATE ( ( unsigned long ) 57600 )
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/*
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* The task function for the "Check" task.
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*/
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static portTASK_FUNCTION_PROTO( vErrorChecks, pvParameters );
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/*
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* Checks the unique counts of other tasks to ensure they are still operational.
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* Returns pdTRUE if an error is detected, otherwise pdFALSE.
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*/
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static char prvCheckOtherTasksAreStillRunning( void );
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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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/* Send a character so we have some visible feedback of a reset. */
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xSerialPortInitMinimal( mainBAUD_RATE, mainCOMMS_QUEUE_LENGTH );
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xSerialPutChar( NULL, 'X', mainNO_BLOCK );
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/* Start a few of the standard demo tasks found in the demo\common directory. */
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vStartMathTasks( tskIDLE_PRIORITY );
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vStartLEDFlashTasks( mainLED_FLASH_PRIORITY );
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/* Start the check task defined in this file. */
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xTaskCreate( vErrorChecks, ( const char * const ) "Check", portMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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/* Start the scheduler. Will never return here. */
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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( vErrorChecks, pvParameters )
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{
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portTickType xLastCheckTime;
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portTickType xDelayTime = mainNO_ERROR_CHECK_PERIOD;
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char cErrorOccurred;
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/* We need to initialise xLastCheckTime prior to the first call to
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vTaskDelayUntil(). */
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xLastCheckTime = xTaskGetTickCount();
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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 again. */
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vTaskDelayUntil( &xLastCheckTime, xDelayTime );
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/* Check all the other tasks are running, and running without ever
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having an error. */
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cErrorOccurred = prvCheckOtherTasksAreStillRunning();
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/* If an error was detected increase the frequency of the LED flash. */
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if( cErrorOccurred == pdTRUE )
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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. */
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vParTestToggleLED( mainCHECK_TASK_LED );
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}
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}
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/*-----------------------------------------------------------*/
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static char prvCheckOtherTasksAreStillRunning( void )
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{
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char cErrorHasOccurred = ( char ) pdFALSE;
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if( xAreMathsTaskStillRunning() != pdTRUE )
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{
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cErrorHasOccurred = ( char ) pdTRUE;
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}
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return cErrorHasOccurred;
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}
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/*-----------------------------------------------------------*/
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