2 * FreeRTOS Kernel V10.1.0
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3 * Copyright (C) 2018 Amazon.com, Inc. or its affiliates. All Rights Reserved.
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5 * Permission is hereby granted, free of charge, to any person obtaining a copy of
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6 * this software and associated documentation files (the "Software"), to deal in
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7 * the Software without restriction, including without limitation the rights to
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8 * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
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9 * the Software, and to permit persons to whom the Software is furnished to do so,
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10 * subject to the following conditions:
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12 * The above copyright notice and this permission notice shall be included in all
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13 * copies or substantial portions of the Software.
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15 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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16 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
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17 * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
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18 * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
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19 * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
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20 * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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22 * http://www.FreeRTOS.org
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23 * http://aws.amazon.com/freertos
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25 * 1 tab == 4 spaces!
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35 * Instead of the normal single demo application, the PIC18F demo is split
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36 * into several smaller programs of which this is the second. This enables the
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37 * demo's to be executed on the RAM limited PIC-devices.
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39 * The Demo2 project is configured for a PIC18F4620 device. Main.c starts 12
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40 * tasks (including the idle task). See the indicated files in the demo/common
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41 * directory for more information.
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43 * demo/common/minimal/integer.c: Creates 1 task
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44 * demo/common/minimal/PollQ.c: Creates 2 tasks
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45 * demo/common/minimal/semtest.c: Creates 4 tasks
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46 * demo/common/minimal/flash.c: Creates 3 tasks
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48 * Main.c also creates a check task. This periodically checks that all the
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49 * other tasks are still running and have not experienced any unexpected
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50 * results. If all the other tasks are executing correctly an LED is flashed
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51 * once every mainCHECK_PERIOD milliseconds. If any of the tasks have not
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52 * executed, or report an error, the frequency of the LED flash will increase
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53 * to mainERROR_FLASH_RATE.
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55 * On entry to main an 'X' is transmitted. Monitoring the serial port using a
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56 * dumb terminal allows for verification that the device is not continuously
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57 * being reset (no more than one 'X' should be transmitted).
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59 * http://www.FreeRTOS.org contains important information on the use of the
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63 /* Scheduler include files. */
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64 #include <FreeRTOS.h>
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67 /* Demo app include files. */
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68 #include "integer.h"
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70 #include "semtest.h"
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72 #include "partest.h"
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75 /* The period between executions of the check task before and after an error
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76 has been discovered. If an error has been discovered the check task runs
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77 more frequently - increasing the LED flash rate. */
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78 #define mainNO_ERROR_CHECK_PERIOD ( ( TickType_t ) 10000 / portTICK_PERIOD_MS )
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79 #define mainERROR_CHECK_PERIOD ( ( TickType_t ) 1000 / portTICK_PERIOD_MS )
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80 #define mainCHECK_TASK_LED ( ( unsigned char ) 3 )
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82 /* Priority definitions for some of the tasks. Other tasks just use the idle
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84 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + ( unsigned char ) 3 )
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85 #define mainLED_FLASH_PRIORITY ( tskIDLE_PRIORITY + ( unsigned char ) 2 )
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86 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + ( unsigned char ) 1 )
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87 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + ( unsigned char ) 1 )
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88 #define mainINTEGER_PRIORITY ( tskIDLE_PRIORITY + ( unsigned char ) 0 )
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90 /* Constants required for the communications. Only one character is ever
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92 #define mainCOMMS_QUEUE_LENGTH ( ( unsigned char ) 5 )
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93 #define mainNO_BLOCK ( ( TickType_t ) 0 )
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94 #define mainBAUD_RATE ( ( unsigned long ) 57600 )
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97 * The task function for the "Check" task.
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99 static portTASK_FUNCTION_PROTO( vErrorChecks, pvParameters );
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102 * Checks the unique counts of other tasks to ensure they are still operational.
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103 * Returns pdTRUE if an error is detected, otherwise pdFALSE.
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105 static char prvCheckOtherTasksAreStillRunning( void );
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107 /*-----------------------------------------------------------*/
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109 /* Creates the tasks, then starts the scheduler. */
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112 /* Initialise the required hardware. */
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113 vParTestInitialise();
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115 /* Send a character so we have some visible feedback of a reset. */
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116 xSerialPortInitMinimal( mainBAUD_RATE, mainCOMMS_QUEUE_LENGTH );
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117 xSerialPutChar( NULL, 'X', mainNO_BLOCK );
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119 /* Start a few of the standard demo tasks found in the demo\common directory. */
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120 vStartIntegerMathTasks( mainINTEGER_PRIORITY);
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121 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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122 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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123 vStartLEDFlashTasks( mainLED_FLASH_PRIORITY );
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125 /* Start the check task defined in this file. */
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126 xTaskCreate( vErrorChecks, "Check", portMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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128 /* Start the scheduler. Will never return here. */
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129 vTaskStartScheduler();
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131 while(1) /* This point should never be reached. */
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135 /*-----------------------------------------------------------*/
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137 static portTASK_FUNCTION( vErrorChecks, pvParameters )
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139 TickType_t xLastCheckTime;
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140 TickType_t xDelayTime = mainNO_ERROR_CHECK_PERIOD;
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141 char cErrorOccurred;
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143 /* We need to initialise xLastCheckTime prior to the first call to
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144 vTaskDelayUntil(). */
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145 xLastCheckTime = xTaskGetTickCount();
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147 /* Cycle for ever, delaying then checking all the other tasks are still
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148 operating without error. */
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151 /* Wait until it is time to check the other tasks again. */
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152 vTaskDelayUntil( &xLastCheckTime, xDelayTime );
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154 /* Check all the other tasks are running, and running without ever
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155 having an error. */
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156 cErrorOccurred = prvCheckOtherTasksAreStillRunning();
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158 /* If an error was detected increase the frequency of the LED flash. */
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159 if( cErrorOccurred == pdTRUE )
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161 xDelayTime = mainERROR_CHECK_PERIOD;
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164 /* Flash the LED for visual feedback. */
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165 vParTestToggleLED( mainCHECK_TASK_LED );
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168 /*-----------------------------------------------------------*/
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170 static char prvCheckOtherTasksAreStillRunning( void )
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172 char cErrorHasOccurred = ( char ) pdFALSE;
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174 if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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176 cErrorHasOccurred = ( char ) pdTRUE;
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179 if( xArePollingQueuesStillRunning() != pdTRUE )
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181 cErrorHasOccurred = ( char ) pdTRUE;
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184 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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186 cErrorHasOccurred = ( char ) pdTRUE;
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189 return cErrorHasOccurred;
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191 /*-----------------------------------------------------------*/
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