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 fourth. 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 Demo4 project is configured for a PIC18F4620 device. Main.c starts 11
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45 * tasks (including the idle task). See the indicated files in the demo/common
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46 * directory for more information.
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48 * demo/common/minimal/integer.c: Creates 1 task
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49 * demo/common/minimal/dynamic.c: Creates 5 tasks
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50 * demo/common/minimal/flash.c: Creates 3 tasks
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52 * Main.c also creates a check task. This periodically checks that all the
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53 * other tasks are still running and have not experienced any unexpected
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54 * results. If all the other tasks are executing correctly an LED is flashed
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55 * once every mainCHECK_PERIOD milliseconds. If any of the tasks have not
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56 * executed, or report an error, the frequency of the LED flash will increase
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57 * to mainERROR_FLASH_RATE.
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59 * On entry to main an 'X' is transmitted. Monitoring the serial port using a
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60 * dumb terminal allows for verification that the device is not continuously
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61 * being reset (no more than one 'X' should be transmitted).
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63 * http://www.FreeRTOS.org contains important information on the use of the
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67 /* Scheduler include files. */
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68 #include <FreeRTOS.h>
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71 /* Demo app include files. */
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72 #include "integer.h"
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73 #include "dynamic.h"
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75 #include "partest.h"
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78 /* The period between executions of the check task before and after an error
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79 has been discovered. If an error has been discovered the check task runs
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80 more frequently - increasing the LED flash rate. */
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81 #define mainNO_ERROR_CHECK_PERIOD ( ( portTickType ) 10000 / portTICK_RATE_MS )
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82 #define mainERROR_CHECK_PERIOD ( ( portTickType ) 1000 / portTICK_RATE_MS )
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83 #define mainCHECK_TASK_LED ( ( unsigned portCHAR ) 3 )
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85 /* Priority definitions for some of the tasks. Other tasks just use the idle
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87 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + ( unsigned portCHAR ) 3 )
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88 #define mainLED_FLASH_PRIORITY ( tskIDLE_PRIORITY + ( unsigned portCHAR ) 2 )
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89 #define mainINTEGER_PRIORITY ( tskIDLE_PRIORITY + ( unsigned portCHAR ) 0 )
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91 /* Constants required for the communications. Only one character is ever
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93 #define mainCOMMS_QUEUE_LENGTH ( ( unsigned portCHAR ) 5 )
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94 #define mainNO_BLOCK ( ( portTickType ) 0 )
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95 #define mainBAUD_RATE ( ( unsigned portLONG ) 57600 )
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98 * The task function for the "Check" task.
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100 static portTASK_FUNCTION_PROTO( vErrorChecks, pvParameters );
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103 * Checks the unique counts of other tasks to ensure they are still operational.
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104 * Returns pdTRUE if an error is detected, otherwise pdFALSE.
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106 static portCHAR prvCheckOtherTasksAreStillRunning( void );
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108 /*-----------------------------------------------------------*/
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110 /* Creates the tasks, then starts the scheduler. */
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113 /* Initialise the required hardware. */
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114 vParTestInitialise();
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116 /* Send a character so we have some visible feedback of a reset. */
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117 xSerialPortInitMinimal( mainBAUD_RATE, mainCOMMS_QUEUE_LENGTH );
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118 xSerialPutChar( NULL, 'X', mainNO_BLOCK );
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120 /* Start the standard demo tasks found in the demo\common directory. */
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121 vStartIntegerMathTasks( mainINTEGER_PRIORITY);
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122 vStartDynamicPriorityTasks();
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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, ( const portCHAR * const ) "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 portTickType xLastCheckTime;
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140 portTickType xDelayTime = mainNO_ERROR_CHECK_PERIOD;
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141 portCHAR 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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169 /*-----------------------------------------------------------*/
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171 static portCHAR prvCheckOtherTasksAreStillRunning( void )
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173 portCHAR cErrorHasOccurred = ( portCHAR ) pdFALSE;
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175 if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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177 cErrorHasOccurred = ( portCHAR ) pdTRUE;
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180 if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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182 cErrorHasOccurred = ( portCHAR ) pdTRUE;
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185 return cErrorHasOccurred;
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187 /*-----------------------------------------------------------*/
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