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/*
FreeRTOS.org V5.1.2 - Copyright (C) 2003-2009 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.
***************************************************************************
***************************************************************************
* *
* Get the FreeRTOS eBook! See http://www.FreeRTOS.org/Documentation *
* *
* This is a concise, step by step, 'hands on' guide that describes both *
* general multitasking concepts and FreeRTOS specifics. It presents and *
* explains numerous examples that are written using the FreeRTOS API. *
* Full source code for all the examples is provided in an accompanying *
* .zip file. *
* *
***************************************************************************
***************************************************************************
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 V3.0.0
Changes from V3.0.1
*/
/*
* 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 PIC-devices.
*
* The Demo2 project is configured for a PIC18F4620 device. Main.c starts 12
* tasks (including the idle task). See the indicated files in the demo/common
* directory for more information.
*
* demo/common/minimal/integer.c: Creates 1 task
* demo/common/minimal/PollQ.c: Creates 2 tasks
* demo/common/minimal/semtest.c: Creates 4 tasks
* demo/common/minimal/flash.c: Creates 3 tasks
*
* Main.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 an 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
* wizC PIC18F port.
*/
/* Scheduler include files. */
#include <FreeRTOS.h>
#include <task.h>
/* Demo app include files. */
#include "integer.h"
#include "PollQ.h"
#include "semtest.h"
#include "flash.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 ) 10000 / portTICK_RATE_MS )
#define mainERROR_CHECK_PERIOD ( ( portTickType ) 1000 / portTICK_RATE_MS )
#define mainCHECK_TASK_LED ( ( unsigned portCHAR ) 3 )
/* Priority definitions for some of the tasks. Other tasks just use the idle
priority. */
#define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + ( unsigned portCHAR ) 3 )
#define mainLED_FLASH_PRIORITY ( tskIDLE_PRIORITY + ( unsigned portCHAR ) 2 )
#define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + ( unsigned portCHAR ) 1 )
#define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + ( unsigned portCHAR ) 1 )
#define mainINTEGER_PRIORITY ( tskIDLE_PRIORITY + ( unsigned portCHAR ) 0 )
/* Constants required for the communications. Only one character is ever
transmitted. */
#define mainCOMMS_QUEUE_LENGTH ( ( unsigned portCHAR ) 5 )
#define mainNO_BLOCK ( ( portTickType ) 0 )
#define mainBAUD_RATE ( ( unsigned portLONG ) 57600 )
/*
* The task function for the "Check" task.
*/
static portTASK_FUNCTION_PROTO( vErrorChecks, pvParameters );
/*
* Checks the unique counts of other tasks to ensure they are still operational.
* Returns pdTRUE if an error is detected, otherwise pdFALSE.
*/
static portCHAR prvCheckOtherTasksAreStillRunning( void );
/*-----------------------------------------------------------*/
/* Creates the tasks, then starts the scheduler. */
void main( void )
{
/* Initialise the required hardware. */
vParTestInitialise();
/* Send a character so we have some visible feedback of a reset. */
xSerialPortInitMinimal( mainBAUD_RATE, mainCOMMS_QUEUE_LENGTH );
xSerialPutChar( NULL, 'X', mainNO_BLOCK );
/* Start a few of the standard demo tasks found in the demo\common directory. */
vStartIntegerMathTasks( mainINTEGER_PRIORITY);
vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
vStartLEDFlashTasks( mainLED_FLASH_PRIORITY );
/* Start the check task defined in this file. */
xTaskCreate( vErrorChecks, ( const portCHAR * const ) "Check", portMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
/* Start the scheduler. Will never return here. */
vTaskStartScheduler();
while(1) /* This point should never be reached. */
{
}
}
/*-----------------------------------------------------------*/
static portTASK_FUNCTION( vErrorChecks, pvParameters )
{
portTickType xLastCheckTime;
portTickType xDelayTime = mainNO_ERROR_CHECK_PERIOD;
portCHAR cErrorOccurred;
/* We need to initialise xLastCheckTime prior to the first call to
vTaskDelayUntil(). */
xLastCheckTime = xTaskGetTickCount();
/* 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 again. */
vTaskDelayUntil( &xLastCheckTime, xDelayTime );
/* Check all the other tasks are running, and running without ever
having an error. */
cErrorOccurred = prvCheckOtherTasksAreStillRunning();
/* If an error was detected increase the frequency of the LED flash. */
if( cErrorOccurred == pdTRUE )
{
xDelayTime = mainERROR_CHECK_PERIOD;
}
/* Flash the LED for visual feedback. */
vParTestToggleLED( mainCHECK_TASK_LED );
}
}
/*-----------------------------------------------------------*/
static portCHAR prvCheckOtherTasksAreStillRunning( void )
{
portCHAR cErrorHasOccurred = ( portCHAR ) pdFALSE;
if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
{
cErrorHasOccurred = ( portCHAR ) pdTRUE;
}
if( xArePollingQueuesStillRunning() != pdTRUE )
{
cErrorHasOccurred = ( portCHAR ) pdTRUE;
}
if( xAreSemaphoreTasksStillRunning() != pdTRUE )
{
cErrorHasOccurred = ( portCHAR ) pdTRUE;
}
return cErrorHasOccurred;
}
/*-----------------------------------------------------------*/
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