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[/] [openrisc/] [trunk/] [rtos/] [freertos-6.1.1/] [Demo/] [PIC18_MPLAB/] [main1.c] - Blame information for rev 606

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1 587 jeremybenn
/*
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    FreeRTOS V6.1.1 - Copyright (C) 2011 Real Time Engineers Ltd.
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    ***************************************************************************
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    *                                                                         *
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    * If you are:                                                             *
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    *                                                                         *
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    *    + New to FreeRTOS,                                                   *
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    *    + Wanting to learn FreeRTOS or multitasking in general quickly       *
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    *    + Looking for basic training,                                        *
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    *    + Wanting to improve your FreeRTOS skills and productivity           *
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    *                                                                         *
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    * then take a look at the FreeRTOS books - available as PDF or paperback  *
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    *                                                                         *
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    *        "Using the FreeRTOS Real Time Kernel - a Practical Guide"        *
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    *                  http://www.FreeRTOS.org/Documentation                  *
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    *                                                                         *
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    * A pdf reference manual is also available.  Both are usually delivered   *
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    * to your inbox within 20 minutes to two hours when purchased between 8am *
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    * and 8pm GMT (although please allow up to 24 hours in case of            *
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    * exceptional circumstances).  Thank you for your support!                *
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    *                                                                         *
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    ***************************************************************************
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    This file is part of the FreeRTOS distribution.
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    FreeRTOS is free software; you can redistribute it and/or modify it under
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    the terms of the GNU General Public License (version 2) as published by the
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    Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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    ***NOTE*** The exception to the GPL is included to allow you to distribute
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    a combined work that includes FreeRTOS without being obliged to provide the
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    source code for proprietary components outside of the FreeRTOS kernel.
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    FreeRTOS is distributed in the hope that it will be useful, but WITHOUT
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    ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
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    FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
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    more details. You should have received a copy of the GNU General Public
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    License and the FreeRTOS license exception along with FreeRTOS; if not it
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    can be viewed here: http://www.freertos.org/a00114.html and also obtained
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    by writing to Richard Barry, contact details for whom are available on the
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    FreeRTOS WEB site.
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    1 tab == 4 spaces!
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    http://www.FreeRTOS.org - Documentation, latest information, license and
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    contact details.
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    http://www.SafeRTOS.com - A version that is certified for use in safety
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    critical systems.
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    http://www.OpenRTOS.com - Commercial support, development, porting,
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    licensing and training services.
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*/
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/*
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 * Instead of the normal single demo application, the PIC18F demo is split
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 * into several smaller programs of which this is the first.  This enables the
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 * demo's to be executed on the RAM limited 40 pin devices.  The 64 and 80 pin
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 * devices require a more costly development platform and are not so readily
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 * available.
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 *
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 * The RTOSDemo1 project is configured for a PIC18F452 device.  Main1.c starts 5
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 * tasks (including the idle task).
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 *
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 * The first task runs at the idle priority.  It repeatedly performs a 32bit
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 * calculation and checks it's result against the expected value.  This checks
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 * that the temporary storage utilised by the compiler to hold intermediate
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 * results does not get corrupted when the task gets switched in and out.  See
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 * demo/common/minimal/integer.c for more information.
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 *
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 * The second and third tasks pass an incrementing value between each other on
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 * a message queue.  See demo/common/minimal/PollQ.c for more information.
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 *
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 * Main1.c also creates a check task.  This periodically checks that all the
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 * other tasks are still running and have not experienced any unexpected
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 * results.  If all the other tasks are executing correctly an LED is flashed
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 * once every mainCHECK_PERIOD milliseconds.  If any of the tasks have not
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 * executed, or report and error, the frequency of the LED flash will increase
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 * to mainERROR_FLASH_RATE.
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 *
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 * On entry to main an 'X' is transmitted.  Monitoring the serial port using a
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 * dumb terminal allows for verification that the device is not continuously
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 * being reset (no more than one 'X' should be transmitted).
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 *
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 * http://www.FreeRTOS.org contains important information on the use of the
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 * PIC18F port.
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 */
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/*
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Changes from V2.0.0
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        + Delay periods are now specified using variables and constants of
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          portTickType rather than unsigned long.
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*/
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/* Scheduler include files. */
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#include "FreeRTOS.h"
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#include "task.h"
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/* Demo app include files. */
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#include "PollQ.h"
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#include "integer.h"
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#include "partest.h"
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#include "serial.h"
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/* The period between executions of the check task before and after an error
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has been discovered.  If an error has been discovered the check task runs
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more frequently - increasing the LED flash rate. */
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#define mainNO_ERROR_CHECK_PERIOD               ( ( portTickType ) 1000 / portTICK_RATE_MS )
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#define mainERROR_CHECK_PERIOD                  ( ( portTickType ) 100 / portTICK_RATE_MS )
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/* Priority definitions for some of the tasks.  Other tasks just use the idle
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priority. */
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#define mainQUEUE_POLL_PRIORITY                 ( tskIDLE_PRIORITY + 2 )
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#define mainCHECK_TASK_PRIORITY                 ( tskIDLE_PRIORITY + 3 )
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/* The LED that is flashed by the check task. */
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#define mainCHECK_TASK_LED                              ( 0 )
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/* Constants required for the communications.  Only one character is ever
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transmitted. */
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#define mainCOMMS_QUEUE_LENGTH                  ( 5 )
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#define mainNO_BLOCK                                    ( ( portTickType ) 0 )
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#define mainBAUD_RATE                                   ( ( unsigned long ) 9600 )
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/*
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 * The task function for the "Check" task.
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 */
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static void vErrorChecks( void *pvParameters );
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/*
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 * Checks the unique counts of other tasks to ensure they are still operational.
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 * Returns pdTRUE if an error is detected, otherwise pdFALSE.
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 */
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static portBASE_TYPE prvCheckOtherTasksAreStillRunning( void );
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/*-----------------------------------------------------------*/
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/* Creates the tasks, then starts the scheduler. */
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void main( void )
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{
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        /* Initialise the required hardware. */
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        vParTestInitialise();
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        vPortInitialiseBlocks();
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        /* Send a character so we have some visible feedback of a reset. */
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        xSerialPortInitMinimal( mainBAUD_RATE, mainCOMMS_QUEUE_LENGTH );
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        xSerialPutChar( NULL, 'X', mainNO_BLOCK );
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        /* Start the standard demo tasks found in the demo\common directory. */
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        vStartIntegerMathTasks( tskIDLE_PRIORITY );
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        vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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        /* Start the check task defined in this file. */
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        xTaskCreate( vErrorChecks, ( const char * const ) "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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        /* Start the scheduler.  Will never return here. */
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        vTaskStartScheduler();
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}
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/*-----------------------------------------------------------*/
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static void vErrorChecks( void *pvParameters )
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{
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portTickType xDelayTime = mainNO_ERROR_CHECK_PERIOD;
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portBASE_TYPE xErrorOccurred;
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        /* Cycle for ever, delaying then checking all the other tasks are still
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        operating without error. */
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        for( ;; )
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        {
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                /* Wait until it is time to check the other tasks. */
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                vTaskDelay( xDelayTime );
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                /* Check all the other tasks are running, and running without ever
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                having an error. */
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                xErrorOccurred = prvCheckOtherTasksAreStillRunning();
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                /* If an error was detected increase the frequency of the LED flash. */
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                if( xErrorOccurred == pdTRUE )
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                {
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                        xDelayTime = mainERROR_CHECK_PERIOD;
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                }
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                /* Flash the LED for visual feedback. */
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                vParTestToggleLED( mainCHECK_TASK_LED );
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        }
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}
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/*-----------------------------------------------------------*/
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static portBASE_TYPE prvCheckOtherTasksAreStillRunning( void )
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{
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portBASE_TYPE xErrorHasOccurred = pdFALSE;
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        if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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        {
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                xErrorHasOccurred = pdTRUE;
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        }
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        if( xArePollingQueuesStillRunning() != pdTRUE )
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        {
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                xErrorHasOccurred = pdTRUE;
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        }
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        return xErrorHasOccurred;
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}
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/*-----------------------------------------------------------*/
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