2 FreeRTOS V7.3.0 - Copyright (C) 2012 Real Time Engineers Ltd.
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4 FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME. PLEASE VISIT
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5 http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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7 ***************************************************************************
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9 * FreeRTOS tutorial books are available in pdf and paperback. *
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10 * Complete, revised, and edited pdf reference manuals are also *
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13 * Purchasing FreeRTOS documentation will not only help you, by *
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14 * ensuring you get running as quickly as possible and with an *
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15 * in-depth knowledge of how to use FreeRTOS, it will also help *
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16 * the FreeRTOS project to continue with its mission of providing *
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17 * professional grade, cross platform, de facto standard solutions *
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18 * for microcontrollers - completely free of charge! *
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20 * >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
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22 * Thank you for using FreeRTOS, and thank you for your support! *
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24 ***************************************************************************
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27 This file is part of the FreeRTOS distribution.
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29 FreeRTOS is free software; you can redistribute it and/or modify it under
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30 the terms of the GNU General Public License (version 2) as published by the
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31 Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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32 >>>NOTE<<< The modification to the GPL is included to allow you to
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33 distribute a combined work that includes FreeRTOS without being obliged to
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34 provide the source code for proprietary components outside of the FreeRTOS
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35 kernel. FreeRTOS is distributed in the hope that it will be useful, but
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36 WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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37 or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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38 more details. You should have received a copy of the GNU General Public
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39 License and the FreeRTOS license exception along with FreeRTOS; if not it
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40 can be viewed here: http://www.freertos.org/a00114.html and also obtained
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41 by writing to Richard Barry, contact details for whom are available on the
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46 ***************************************************************************
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48 * Having a problem? Start by reading the FAQ "My application does *
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49 * not run, what could be wrong?" *
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51 * http://www.FreeRTOS.org/FAQHelp.html *
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53 ***************************************************************************
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56 http://www.FreeRTOS.org - Documentation, training, latest versions, license
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57 and contact details.
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59 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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60 including FreeRTOS+Trace - an indispensable productivity tool.
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62 Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell
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63 the code with commercial support, indemnification, and middleware, under
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64 the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also
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65 provide a safety engineered and independently SIL3 certified version under
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66 the SafeRTOS brand: http://www.SafeRTOS.com.
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76 * Instead of the normal single demo application, the PIC18F demo is split
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77 * into several smaller programs of which this is the second. This enables the
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78 * demo's to be executed on the RAM limited PIC-devices.
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80 * The Demo2 project is configured for a PIC18F4620 device. Main.c starts 12
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81 * tasks (including the idle task). See the indicated files in the demo/common
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82 * directory for more information.
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84 * demo/common/minimal/integer.c: Creates 1 task
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85 * demo/common/minimal/PollQ.c: Creates 2 tasks
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86 * demo/common/minimal/semtest.c: Creates 4 tasks
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87 * demo/common/minimal/flash.c: Creates 3 tasks
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89 * Main.c also creates a check task. This periodically checks that all the
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90 * other tasks are still running and have not experienced any unexpected
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91 * results. If all the other tasks are executing correctly an LED is flashed
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92 * once every mainCHECK_PERIOD milliseconds. If any of the tasks have not
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93 * executed, or report an error, the frequency of the LED flash will increase
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94 * to mainERROR_FLASH_RATE.
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96 * On entry to main an 'X' is transmitted. Monitoring the serial port using a
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97 * dumb terminal allows for verification that the device is not continuously
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98 * being reset (no more than one 'X' should be transmitted).
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100 * http://www.FreeRTOS.org contains important information on the use of the
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101 * wizC PIC18F port.
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104 /* Scheduler include files. */
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105 #include <FreeRTOS.h>
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108 /* Demo app include files. */
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109 #include "integer.h"
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111 #include "semtest.h"
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113 #include "partest.h"
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114 #include "serial.h"
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116 /* The period between executions of the check task before and after an error
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117 has been discovered. If an error has been discovered the check task runs
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118 more frequently - increasing the LED flash rate. */
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119 #define mainNO_ERROR_CHECK_PERIOD ( ( portTickType ) 10000 / portTICK_RATE_MS )
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120 #define mainERROR_CHECK_PERIOD ( ( portTickType ) 1000 / portTICK_RATE_MS )
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121 #define mainCHECK_TASK_LED ( ( unsigned char ) 3 )
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123 /* Priority definitions for some of the tasks. Other tasks just use the idle
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125 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + ( unsigned char ) 3 )
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126 #define mainLED_FLASH_PRIORITY ( tskIDLE_PRIORITY + ( unsigned char ) 2 )
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127 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + ( unsigned char ) 1 )
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128 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + ( unsigned char ) 1 )
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129 #define mainINTEGER_PRIORITY ( tskIDLE_PRIORITY + ( unsigned char ) 0 )
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131 /* Constants required for the communications. Only one character is ever
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133 #define mainCOMMS_QUEUE_LENGTH ( ( unsigned char ) 5 )
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134 #define mainNO_BLOCK ( ( portTickType ) 0 )
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135 #define mainBAUD_RATE ( ( unsigned long ) 57600 )
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138 * The task function for the "Check" task.
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140 static portTASK_FUNCTION_PROTO( vErrorChecks, pvParameters );
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143 * Checks the unique counts of other tasks to ensure they are still operational.
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144 * Returns pdTRUE if an error is detected, otherwise pdFALSE.
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146 static char prvCheckOtherTasksAreStillRunning( void );
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148 /*-----------------------------------------------------------*/
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150 /* Creates the tasks, then starts the scheduler. */
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153 /* Initialise the required hardware. */
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154 vParTestInitialise();
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156 /* Send a character so we have some visible feedback of a reset. */
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157 xSerialPortInitMinimal( mainBAUD_RATE, mainCOMMS_QUEUE_LENGTH );
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158 xSerialPutChar( NULL, 'X', mainNO_BLOCK );
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160 /* Start a few of the standard demo tasks found in the demo\common directory. */
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161 vStartIntegerMathTasks( mainINTEGER_PRIORITY);
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162 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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163 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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164 vStartLEDFlashTasks( mainLED_FLASH_PRIORITY );
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166 /* Start the check task defined in this file. */
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167 xTaskCreate( vErrorChecks, ( const char * const ) "Check", portMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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169 /* Start the scheduler. Will never return here. */
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170 vTaskStartScheduler();
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172 while(1) /* This point should never be reached. */
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176 /*-----------------------------------------------------------*/
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178 static portTASK_FUNCTION( vErrorChecks, pvParameters )
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180 portTickType xLastCheckTime;
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181 portTickType xDelayTime = mainNO_ERROR_CHECK_PERIOD;
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182 char cErrorOccurred;
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184 /* We need to initialise xLastCheckTime prior to the first call to
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185 vTaskDelayUntil(). */
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186 xLastCheckTime = xTaskGetTickCount();
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188 /* Cycle for ever, delaying then checking all the other tasks are still
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189 operating without error. */
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192 /* Wait until it is time to check the other tasks again. */
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193 vTaskDelayUntil( &xLastCheckTime, xDelayTime );
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195 /* Check all the other tasks are running, and running without ever
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196 having an error. */
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197 cErrorOccurred = prvCheckOtherTasksAreStillRunning();
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199 /* If an error was detected increase the frequency of the LED flash. */
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200 if( cErrorOccurred == pdTRUE )
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202 xDelayTime = mainERROR_CHECK_PERIOD;
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205 /* Flash the LED for visual feedback. */
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206 vParTestToggleLED( mainCHECK_TASK_LED );
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209 /*-----------------------------------------------------------*/
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211 static char prvCheckOtherTasksAreStillRunning( void )
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213 char cErrorHasOccurred = ( char ) pdFALSE;
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215 if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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217 cErrorHasOccurred = ( char ) pdTRUE;
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220 if( xArePollingQueuesStillRunning() != pdTRUE )
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222 cErrorHasOccurred = ( char ) pdTRUE;
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225 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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227 cErrorHasOccurred = ( char ) pdTRUE;
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230 return cErrorHasOccurred;
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232 /*-----------------------------------------------------------*/
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