2 FreeRTOS V8.1.1 - Copyright (C) 2014 Real Time Engineers Ltd.
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5 VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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7 ***************************************************************************
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9 * FreeRTOS provides completely free yet professionally developed, *
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10 * robust, strictly quality controlled, supported, and cross *
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11 * platform software that has become a de facto standard. *
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13 * Help yourself get started quickly and support the FreeRTOS *
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14 * project by purchasing a FreeRTOS tutorial book, reference *
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15 * manual, or both from: http://www.FreeRTOS.org/Documentation *
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19 ***************************************************************************
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21 This file is part of the FreeRTOS distribution.
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23 FreeRTOS is free software; you can redistribute it and/or modify it under
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24 the terms of the GNU General Public License (version 2) as published by the
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25 Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
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27 >>! NOTE: The modification to the GPL is included to allow you to !<<
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28 >>! distribute a combined work that includes FreeRTOS without being !<<
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29 >>! obliged to provide the source code for proprietary components !<<
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30 >>! outside of the FreeRTOS kernel. !<<
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32 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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33 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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34 FOR A PARTICULAR PURPOSE. Full license text is available from the following
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35 link: http://www.freertos.org/a00114.html
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39 ***************************************************************************
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41 * Having a problem? Start by reading the FAQ "My application does *
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42 * not run, what could be wrong?" *
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44 * http://www.FreeRTOS.org/FAQHelp.html *
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46 ***************************************************************************
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48 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
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49 license and Real Time Engineers Ltd. contact details.
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51 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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52 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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53 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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55 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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56 Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS
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57 licenses offer ticketed support, indemnification and middleware.
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59 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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60 engineered and independently SIL3 certified version for use in safety and
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61 mission critical applications that require provable dependability.
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73 * Instead of the normal single demo application, the PIC18F demo is split
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74 * into several smaller programs of which this is the fifth. This enables the
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75 * demo's to be executed on the RAM limited PIC-devices.
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77 * The Demo5 project is configured for a PIC18F4620 device. Main.c starts 13
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78 * tasks (including the idle task). See the indicated files in the demo/common
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79 * directory for more information.
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81 * demo/common/minimal/flop.c: Creates 8 tasks
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82 * demo/common/minimal/flash.c: Creates 3 tasks
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84 * Main.c also creates a check task. This periodically checks that all the
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85 * other tasks are still running and have not experienced any unexpected
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86 * results. If all the other tasks are executing correctly an LED is flashed
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87 * once every mainCHECK_PERIOD milliseconds. If any of the tasks have not
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88 * executed, or report an error, the frequency of the LED flash will increase
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89 * to mainERROR_FLASH_RATE.
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91 * On entry to main an 'X' is transmitted. Monitoring the serial port using a
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92 * dumb terminal allows for verification that the device is not continuously
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93 * being reset (no more than one 'X' should be transmitted).
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95 * http://www.FreeRTOS.org contains important information on the use of the
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99 /* Scheduler include files. */
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100 #include <FreeRTOS.h>
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103 /* Demo app include files. */
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106 #include "partest.h"
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107 #include "serial.h"
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109 /* The period between executions of the check task before and after an error
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110 has been discovered. If an error has been discovered the check task runs
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111 more frequently - increasing the LED flash rate. */
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112 #define mainNO_ERROR_CHECK_PERIOD ( ( TickType_t ) 10000 / portTICK_PERIOD_MS )
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113 #define mainERROR_CHECK_PERIOD ( ( TickType_t ) 1000 / portTICK_PERIOD_MS )
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114 #define mainCHECK_TASK_LED ( ( unsigned char ) 3 )
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116 /* Priority definitions for some of the tasks. Other tasks just use the idle
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118 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + ( unsigned char ) 2 )
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119 #define mainLED_FLASH_PRIORITY ( tskIDLE_PRIORITY + ( unsigned char ) 1 )
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121 /* Constants required for the communications. Only one character is ever
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123 #define mainCOMMS_QUEUE_LENGTH ( ( unsigned char ) 5 )
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124 #define mainNO_BLOCK ( ( TickType_t ) 0 )
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125 #define mainBAUD_RATE ( ( unsigned long ) 57600 )
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128 * The task function for the "Check" task.
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130 static portTASK_FUNCTION_PROTO( vErrorChecks, pvParameters );
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133 * Checks the unique counts of other tasks to ensure they are still operational.
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134 * Returns pdTRUE if an error is detected, otherwise pdFALSE.
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136 static char prvCheckOtherTasksAreStillRunning( void );
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138 /*-----------------------------------------------------------*/
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140 /* Creates the tasks, then starts the scheduler. */
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143 /* Initialise the required hardware. */
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144 vParTestInitialise();
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146 /* Send a character so we have some visible feedback of a reset. */
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147 xSerialPortInitMinimal( mainBAUD_RATE, mainCOMMS_QUEUE_LENGTH );
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148 xSerialPutChar( NULL, 'X', mainNO_BLOCK );
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150 /* Start a few of the standard demo tasks found in the demo\common directory. */
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151 vStartMathTasks( tskIDLE_PRIORITY );
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152 vStartLEDFlashTasks( mainLED_FLASH_PRIORITY );
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154 /* Start the check task defined in this file. */
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155 xTaskCreate( vErrorChecks, "Check", portMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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157 /* Start the scheduler. Will never return here. */
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158 vTaskStartScheduler();
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160 while(1) /* This point should never be reached. */
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164 /*-----------------------------------------------------------*/
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166 static portTASK_FUNCTION( vErrorChecks, pvParameters )
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168 TickType_t xLastCheckTime;
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169 TickType_t xDelayTime = mainNO_ERROR_CHECK_PERIOD;
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170 char cErrorOccurred;
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172 /* We need to initialise xLastCheckTime prior to the first call to
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173 vTaskDelayUntil(). */
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174 xLastCheckTime = xTaskGetTickCount();
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176 /* Cycle for ever, delaying then checking all the other tasks are still
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177 operating without error. */
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180 /* Wait until it is time to check the other tasks again. */
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181 vTaskDelayUntil( &xLastCheckTime, xDelayTime );
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183 /* Check all the other tasks are running, and running without ever
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184 having an error. */
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185 cErrorOccurred = prvCheckOtherTasksAreStillRunning();
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187 /* If an error was detected increase the frequency of the LED flash. */
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188 if( cErrorOccurred == pdTRUE )
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190 xDelayTime = mainERROR_CHECK_PERIOD;
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193 /* Flash the LED for visual feedback. */
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194 vParTestToggleLED( mainCHECK_TASK_LED );
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197 /*-----------------------------------------------------------*/
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199 static char prvCheckOtherTasksAreStillRunning( void )
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201 char cErrorHasOccurred = ( char ) pdFALSE;
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203 if( xAreMathsTaskStillRunning() != pdTRUE )
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205 cErrorHasOccurred = ( char ) pdTRUE;
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207 return cErrorHasOccurred;
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209 /*-----------------------------------------------------------*/
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