2 FreeRTOS V4.0.1 - Copyright (C) 2003-2006 Richard Barry.
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4 This file is part of the FreeRTOS distribution.
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6 FreeRTOS is free software; you can redistribute it and/or modify
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7 it under the terms of the GNU General Public License as published by
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8 the Free Software Foundation; either version 2 of the License, or
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9 (at your option) any later version.
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11 FreeRTOS is distributed in the hope that it will be useful,
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12 but WITHOUT ANY WARRANTY; without even the implied warranty of
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13 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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14 GNU General Public License for more details.
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16 You should have received a copy of the GNU General Public License
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17 along with FreeRTOS; if not, write to the Free Software
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18 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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20 A special exception to the GPL can be applied should you wish to distribute
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21 a combined work that includes FreeRTOS, without being obliged to provide
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22 the source code for any proprietary components. See the licensing section
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23 of http://www.FreeRTOS.org for full details of how and when the exception
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26 ***************************************************************************
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27 See http://www.FreeRTOS.org for documentation, latest information, license
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28 and contact details. Please ensure to read the configuration and relevant
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29 port sections of the online documentation.
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30 ***************************************************************************
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40 * Instead of the normal single demo application, the PIC18F demo is split
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41 * into several smaller programs of which this is the first. This enables the
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42 * demo's to be executed on the RAM limited PIC-devices.
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44 * The Demo1 project is configured for a PIC18F4620 device. Main.c starts 9
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45 * tasks (including the idle task).
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47 * This first demo is included to do a quick check on the FreeRTOS
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48 * installation. It is also included to demonstrate a minimal project-setup
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49 * to use FreeRTOS in a wizC environment.
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51 * Eight independant tasks are created. All tasks share the same taskcode.
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52 * Each task blinks a different led on portB. The blinkrate for each task
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53 * is different, but chosen in such a way that portB will show a binary
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54 * counter pattern. All blinkrates are derived from a single master-rate.
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55 * By default, this masterrate is set to 100 milliseconds. Although such
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56 * a low value will make it almost impossible to see some of the leds
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57 * actually blink, it is a good value when using the wizC-simulator.
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58 * When testing on a real chip, changing the value to eg. 500 milliseconds
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59 * would be appropiate.
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62 /* Scheduler include files. */
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63 #include <FreeRTOS.h>
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66 #define mainBLINK_LED_INTERVAL ( ( portTickType ) 100 / ( portTICK_RATE_MS ) )
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68 /* The LED that is flashed by the B0 task. */
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69 #define mainBLINK_LED0_PORT LATD
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70 #define mainBLINK_LED0_TRIS TRISD
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71 #define mainBLINK_LED0_PIN 0
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72 #define mainBLINK_LED0_INTERVAL ((mainBLINK_LED_INTERVAL) << (mainBLINK_LED0_PIN))
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74 /* The LED that is flashed by the B1 task. */
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75 #define mainBLINK_LED1_PORT LATD
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76 #define mainBLINK_LED1_TRIS TRISD
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77 #define mainBLINK_LED1_PIN 1
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78 #define mainBLINK_LED1_INTERVAL ((mainBLINK_LED_INTERVAL) << (mainBLINK_LED1_PIN))
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80 /* The LED that is flashed by the B2 task. */
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81 #define mainBLINK_LED2_PORT LATD
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82 #define mainBLINK_LED2_TRIS TRISD
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83 #define mainBLINK_LED2_PIN 2
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84 #define mainBLINK_LED2_INTERVAL ((mainBLINK_LED_INTERVAL) << (mainBLINK_LED2_PIN))
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86 /* The LED that is flashed by the B3 task. */
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87 #define mainBLINK_LED3_PORT LATD
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88 #define mainBLINK_LED3_TRIS TRISD
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89 #define mainBLINK_LED3_PIN 3
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90 #define mainBLINK_LED3_INTERVAL ((mainBLINK_LED_INTERVAL) << (mainBLINK_LED3_PIN))
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92 /* The LED that is flashed by the B4 task. */
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93 #define mainBLINK_LED4_PORT LATD
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94 #define mainBLINK_LED4_TRIS TRISD
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95 #define mainBLINK_LED4_PIN 4
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96 #define mainBLINK_LED4_INTERVAL ((mainBLINK_LED_INTERVAL) << (mainBLINK_LED4_PIN))
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98 /* The LED that is flashed by the B5 task. */
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99 #define mainBLINK_LED5_PORT LATD
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100 #define mainBLINK_LED5_TRIS TRISD
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101 #define mainBLINK_LED5_PIN 5
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102 #define mainBLINK_LED5_INTERVAL ((mainBLINK_LED_INTERVAL) << (mainBLINK_LED5_PIN))
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104 /* The LED that is flashed by the B6 task. */
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105 #define mainBLINK_LED6_PORT LATD
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106 #define mainBLINK_LED6_TRIS TRISD
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107 #define mainBLINK_LED6_PIN 6
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108 #define mainBLINK_LED6_INTERVAL ((mainBLINK_LED_INTERVAL) << (mainBLINK_LED6_PIN))
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110 /* The LED that is flashed by the B7 task. */
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111 #define mainBLINK_LED7_PORT LATD
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112 #define mainBLINK_LED7_TRIS TRISD
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113 #define mainBLINK_LED7_PIN 7
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114 #define mainBLINK_LED7_INTERVAL ((mainBLINK_LED_INTERVAL) << (mainBLINK_LED7_PIN))
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117 unsigned char *port;
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118 unsigned char *tris;
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120 portTickType interval;
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123 const SBLINK sled0 = {&mainBLINK_LED0_PORT, &mainBLINK_LED0_TRIS, mainBLINK_LED0_PIN, mainBLINK_LED0_INTERVAL};
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124 const SBLINK sled1 = {&mainBLINK_LED1_PORT, &mainBLINK_LED1_TRIS, mainBLINK_LED1_PIN, mainBLINK_LED1_INTERVAL};
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125 const SBLINK sled2 = {&mainBLINK_LED2_PORT, &mainBLINK_LED2_TRIS, mainBLINK_LED2_PIN, mainBLINK_LED2_INTERVAL};
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126 const SBLINK sled3 = {&mainBLINK_LED3_PORT, &mainBLINK_LED3_TRIS, mainBLINK_LED3_PIN, mainBLINK_LED3_INTERVAL};
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127 const SBLINK sled4 = {&mainBLINK_LED4_PORT, &mainBLINK_LED4_TRIS, mainBLINK_LED4_PIN, mainBLINK_LED4_INTERVAL};
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128 const SBLINK sled5 = {&mainBLINK_LED5_PORT, &mainBLINK_LED5_TRIS, mainBLINK_LED5_PIN, mainBLINK_LED5_INTERVAL};
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129 const SBLINK sled6 = {&mainBLINK_LED6_PORT, &mainBLINK_LED6_TRIS, mainBLINK_LED6_PIN, mainBLINK_LED6_INTERVAL};
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130 const SBLINK sled7 = {&mainBLINK_LED7_PORT, &mainBLINK_LED7_TRIS, mainBLINK_LED7_PIN, mainBLINK_LED7_INTERVAL};
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133 * The task code for the "vBlink" task.
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135 static portTASK_FUNCTION_PROTO(vBlink, pvParameters);
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137 /*-----------------------------------------------------------*/
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140 * Creates the tasks, then starts the scheduler.
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145 * Start the blink tasks defined in this file.
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147 xTaskCreate( vBlink, "B0", configMINIMAL_STACK_SIZE, &sled0, tskIDLE_PRIORITY, NULL );
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148 xTaskCreate( vBlink, "B1", configMINIMAL_STACK_SIZE, &sled1, tskIDLE_PRIORITY, NULL );
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149 xTaskCreate( vBlink, "B2", configMINIMAL_STACK_SIZE, &sled2, tskIDLE_PRIORITY, NULL );
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150 xTaskCreate( vBlink, "B3", configMINIMAL_STACK_SIZE, &sled3, tskIDLE_PRIORITY, NULL );
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151 xTaskCreate( vBlink, "B4", configMINIMAL_STACK_SIZE, &sled4, tskIDLE_PRIORITY, NULL );
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152 xTaskCreate( vBlink, "B5", configMINIMAL_STACK_SIZE, &sled5, tskIDLE_PRIORITY, NULL );
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153 xTaskCreate( vBlink, "B6", configMINIMAL_STACK_SIZE, &sled6, tskIDLE_PRIORITY, NULL );
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154 xTaskCreate( vBlink, "B7", configMINIMAL_STACK_SIZE, &sled7, tskIDLE_PRIORITY, NULL );
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157 * Start the scheduler.
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159 vTaskStartScheduler( );
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161 while(1) /* This point should never be reached. */
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165 /*-----------------------------------------------------------*/
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167 static portTASK_FUNCTION(vBlink, pvParameters)
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169 unsigned char *Port = ((SBLINK *)pvParameters)->port;
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170 unsigned char *Tris = ((SBLINK *)pvParameters)->tris;
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171 unsigned char Pin = ((SBLINK *)pvParameters)->pin;
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172 portTickType Interval = ((SBLINK *)pvParameters)->interval;
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174 portTickType xLastWakeTime;
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177 * Initialize the hardware
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179 *Tris &= ~(1<<Pin); // Set the pin that is used by this task to ouput
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180 *Port &= ~(1<<Pin); // Drive the pin low
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183 * Initialise the xLastWakeTime variable with the current time.
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185 xLastWakeTime = xTaskGetTickCount();
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188 * Cycle for ever, delaying then toggle the LED.
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193 * Wait until it is time to toggle
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195 vTaskDelayUntil( &xLastWakeTime, Interval );
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198 * Toggle the LED for visual feedback.
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