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[/] [openrisc/] [trunk/] [rtos/] [freertos-6.1.1/] [Demo/] [PIC18_MPLAB/] [main3.c] - Blame information for rev 591

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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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 * THIS DEMO APPLICATION REQUIRES A LOOPBACK CONNECTOR TO BE FITTED TO THE PIC
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 * USART PORT - connect pin 2 to pin 3 on J2.
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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 third.  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 RTOSDemo3 project is configured for a PIC18F452 device.  Main3.c starts
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 * 5 tasks (including the idle task).
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 *
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 * The first task repeatedly transmits a string of characters on the PIC USART
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 * port.  The second task receives the characters, checking that the correct
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 * sequence is maintained (i.e. what is transmitted is identical to that
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 * received).  Each transmitted and each received character causes an LED to
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 * flash.  See demo/common/minimal/comtest. c for more information.
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 *
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 * The third task continuously performs a 32 bit calculation.  This is a good
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 * test of the context switch mechanism as the 8 bit architecture requires
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 * the use of several file registers to perform the 32 bit operations.  See
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 * demo/common/minimal/integer. c for more information.
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 *
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 * The third task is the check task.  This periodically checks that the other
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 * tasks are still running and have not experienced any errors.  If no errors
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 * have been reported by either the comms or integer tasks an LED is flashed
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 * with a frequency mainNO_ERROR_CHECK_PERIOD.  If an error is discovered the
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 * frequency is increased to mainERROR_FLASH_RATE.
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 *
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 * The check task also provides a visual indication of a system reset by
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 * flashing the one remaining LED (mainRESET_LED) when it starts.  After
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 * this initial flash mainRESET_LED should remain off.
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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 "partest.h"
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#include "serial.h"
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#include "comtest.h"
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#include "integer.h"
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/* Priority definitions for the LED tasks.  Other tasks just use the idle
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priority. */
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#define mainCOMM_TEST_PRIORITY                  ( tskIDLE_PRIORITY + ( unsigned portBASE_TYPE ) 2 )
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#define mainCHECK_TASK_PRIORITY                 ( tskIDLE_PRIORITY + ( unsigned portBASE_TYPE ) 3 )
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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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/* The period for which mainRESET_LED remain on every reset. */
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#define mainRESET_LED_PERIOD                    ( ( portTickType ) 500 / portTICK_RATE_MS )
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/* The LED that is toggled whenever a character is transmitted.
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mainCOMM_TX_RX_LED + 1 will be toggled every time a character is received. */
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#define mainCOMM_TX_RX_LED                              ( ( unsigned portBASE_TYPE ) 2 )
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/* The LED that is flashed by the check task at a rate that indicates the
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error status. */
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#define mainCHECK_TASK_LED                              ( ( unsigned portBASE_TYPE ) 1 )
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/* The LED that is flashed once upon every reset. */
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#define mainRESET_LED                                   ( ( unsigned portBASE_TYPE ) 0 )
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/* Constants required for the communications. */
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#define mainCOMMS_QUEUE_LENGTH                  ( ( unsigned portBASE_TYPE ) 5 )
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#define mainBAUD_RATE                                   ( ( unsigned long ) 57600 )
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/*-----------------------------------------------------------*/
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/*
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 * Task function which periodically checks the other tasks for errors.  Flashes
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 * an LED at a rate that indicates whether an error has ever been detected.
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 */
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static void vErrorChecks( void *pvParameters );
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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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        /* Initialise the block memory allocator. */
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        vPortInitialiseBlocks();
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        /* Start the standard comtest tasks as defined in demo/common/minimal. */
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        vAltStartComTestTasks( mainCOMM_TEST_PRIORITY, mainBAUD_RATE, mainCOMM_TX_RX_LED );
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        /* Start the standard 32bit calculation task as defined in
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        demo/common/minimal. */
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        vStartIntegerMathTasks( tskIDLE_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.  This will never return. */
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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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volatile unsigned long ulDummy = 3UL;
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        /* Toggle the LED so we can see when a reset occurs. */
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        vParTestSetLED( mainRESET_LED, pdTRUE );
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        vTaskDelay( mainRESET_LED_PERIOD );
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        vParTestSetLED( mainRESET_LED, pdFALSE );
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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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                /* Perform an integer calculation - just to ensure the registers
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                get used.  The result is not important. */
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                ulDummy *= 3UL;
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                /* Check all the other tasks are running, and running without ever
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                having an error.  The delay period is lowered if an error is reported,
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                causing the LED to flash at a higher rate. */
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                if( xAreIntegerMathsTaskStillRunning() == pdFALSE )
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                {
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                        xDelayTime = mainERROR_CHECK_PERIOD;
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                }
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                if( xAreComTestTasksStillRunning() == pdFALSE )
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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.  The rate of the flash will
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                indicate the health of the system. */
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                vParTestToggleLED( mainCHECK_TASK_LED );
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        }
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}
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/*-----------------------------------------------------------*/
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