2 FreeRTOS V6.1.0 - Copyright (C) 2010 Real Time Engineers Ltd.
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4 ***************************************************************************
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8 * + New to FreeRTOS, *
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9 * + Wanting to learn FreeRTOS or multitasking in general quickly *
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10 * + Looking for basic training, *
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11 * + Wanting to improve your FreeRTOS skills and productivity *
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13 * then take a look at the FreeRTOS books - available as PDF or paperback *
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15 * "Using the FreeRTOS Real Time Kernel - a Practical Guide" *
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16 * http://www.FreeRTOS.org/Documentation *
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18 * A pdf reference manual is also available. Both are usually delivered *
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19 * to your inbox within 20 minutes to two hours when purchased between 8am *
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20 * and 8pm GMT (although please allow up to 24 hours in case of *
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21 * exceptional circumstances). Thank you for your support! *
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23 ***************************************************************************
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25 This file is part of the FreeRTOS distribution.
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27 FreeRTOS is free software; you can redistribute it and/or modify it under
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28 the terms of the GNU General Public License (version 2) as published by the
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29 Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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30 ***NOTE*** The exception to the GPL is included to allow you to distribute
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31 a combined work that includes FreeRTOS without being obliged to provide the
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32 source code for proprietary components outside of the FreeRTOS kernel.
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33 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT
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34 ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
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35 FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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36 more details. You should have received a copy of the GNU General Public
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37 License and the FreeRTOS license exception along with FreeRTOS; if not it
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38 can be viewed here: http://www.freertos.org/a00114.html and also obtained
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39 by writing to Richard Barry, contact details for whom are available on the
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44 http://www.FreeRTOS.org - Documentation, latest information, license and
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47 http://www.SafeRTOS.com - A version that is certified for use in safety
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50 http://www.OpenRTOS.com - Commercial support, development, porting,
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51 licensing and training services.
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55 NOTE : Tasks run in system mode and the scheduler runs in Supervisor mode.
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56 The processor MUST be in supervisor mode when vTaskStartScheduler is
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57 called. The demo applications included in the FreeRTOS.org download switch
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58 to supervisor mode prior to main being called. If you are not using one of
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59 these demo application projects then ensure Supervisor mode is used.
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64 * Creates all the demo application tasks, then starts the scheduler. The WEB
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65 * documentation provides more details of the demo application tasks.
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67 * Main.c also creates a task called "Check". This only executes every three
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68 * seconds but has the highest priority so is guaranteed to get processor time.
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69 * Its main function is to check that all the other tasks are still operational.
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70 * Each task (other than the "flash" tasks) maintains a unique count that is
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71 * incremented each time the task successfully completes its function. Should
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72 * any error occur within such a task the count is permanently halted. The
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73 * check task inspects the count of each task to ensure it has changed since
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74 * the last time the check task executed. If all the count variables have
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75 * changed all the tasks are still executing error free, and the check task
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76 * toggles the onboard LED. Should any task contain an error at any time
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77 * the LED toggle rate will change from 3 seconds to 500ms.
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79 * To check the operation of the memory allocator the check task also
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80 * dynamically creates a task before delaying, and deletes it again when it
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81 * wakes. If memory cannot be allocated for the new task the call to xTaskCreate
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82 * will fail and an error is signalled. The dynamically created task itself
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83 * allocates and frees memory just to give the allocator a bit more exercise.
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87 /* Standard includes. */
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91 /* Scheduler includes. */
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92 #include "FreeRTOS.h"
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95 /* Demo application includes. */
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96 #include "partest.h"
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98 #include "integer.h"
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100 #include "comtest2.h"
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101 #include "semtest.h"
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103 #include "dynamic.h"
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104 #include "BlockQ.h"
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105 #include "serial.h"
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107 /* Hardware specific definitions. */
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111 /*-----------------------------------------------------------*/
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113 /* Constants for the ComTest tasks. */
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114 #define mainCOM_TEST_BAUD_RATE ( ( unsigned long ) 115200 )
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115 #define mainCOM_TEST_LED ( 5 )
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117 /* Priorities for the demo application tasks. */
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118 #define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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119 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
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120 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
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121 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 4 )
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122 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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123 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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125 /* The rate at which the on board LED will toggle when there is/is not an
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127 #define mainNO_ERROR_FLASH_PERIOD ( ( portTickType ) 3000 / portTICK_RATE_MS )
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128 #define mainERROR_FLASH_PERIOD ( ( portTickType ) 500 / portTICK_RATE_MS )
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129 #define mainON_BOARD_LED_BIT ( ( unsigned long ) 7 )
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131 /* Constants used by the vMemCheckTask() task. */
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132 #define mainCOUNT_INITIAL_VALUE ( ( unsigned long ) 0 )
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133 #define mainNO_TASK ( 0 )
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135 /* The size of the memory blocks allocated by the vMemCheckTask() task. */
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136 #define mainMEM_CHECK_SIZE_1 ( ( size_t ) 51 )
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137 #define mainMEM_CHECK_SIZE_2 ( ( size_t ) 52 )
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138 #define mainMEM_CHECK_SIZE_3 ( ( size_t ) 151 )
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140 #define MAX_WAIT_STATES 8
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141 static const unsigned long ululCSRWaitValues[ MAX_WAIT_STATES + 1 ] =
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143 WaitState1,/* There is no "zero wait state" value, so use one wait state */
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153 /*-----------------------------------------------------------*/
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156 * Checks that all the demo application tasks are still executing without error
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157 * - as described at the top of the file.
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159 static long prvCheckOtherTasksAreStillRunning( unsigned long ulMemCheckTaskCount );
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162 * The task that executes at the highest priority and calls
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163 * prvCheckOtherTasksAreStillRunning(). See the description at the top
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166 static void vErrorChecks( void *pvParameters );
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169 * Dynamically created and deleted during each cycle of the vErrorChecks()
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170 * task. This is done to check the operation of the memory allocator.
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171 * See the top of vErrorChecks for more details.
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173 static void vMemCheckTask( void *pvParameters );
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176 * Configure the processor for use with the Olimex demo board. This includes
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177 * setup for the I/O, system clock, and access timings.
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179 static void prvSetupHardware( void );
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181 /*-----------------------------------------------------------*/
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184 * Starts all the other tasks, then starts the scheduler.
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188 /* Setup the hardware for use with the Olimex demo board. */
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189 prvSetupHardware();
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191 /* Start the demo/test application tasks. */
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192 vStartIntegerMathTasks( tskIDLE_PRIORITY );
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193 vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
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194 vStartLEDFlashTasks( mainLED_TASK_PRIORITY );
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195 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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196 vStartMathTasks( tskIDLE_PRIORITY );
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197 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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198 vStartDynamicPriorityTasks();
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199 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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201 /* Start the check task - which is defined in this file. */
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202 xTaskCreate( vErrorChecks, ( signed char * ) "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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204 /* Now all the tasks have been started - start the scheduler.
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206 NOTE : Tasks run in system mode and the scheduler runs in Supervisor mode.
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207 The processor MUST be in supervisor mode when vTaskStartScheduler is
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208 called. The demo applications included in the FreeRTOS.org download switch
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209 to supervisor mode prior to main being called. If you are not using one of
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210 these demo application projects then ensure Supervisor mode is used here. */
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211 vTaskStartScheduler();
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213 /* Should never reach here! */
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216 /*-----------------------------------------------------------*/
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218 static void vErrorChecks( void *pvParameters )
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220 portTickType xDelayPeriod = mainNO_ERROR_FLASH_PERIOD;
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221 unsigned long ulMemCheckTaskRunningCount;
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222 xTaskHandle xCreatedTask;
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224 /* Just to stop compiler warnings. */
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225 ( void ) pvParameters;
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227 /* Cycle for ever, delaying then checking all the other tasks are still
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228 operating without error. If an error is detected then the delay period
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229 is decreased from mainNO_ERROR_FLASH_PERIOD to mainERROR_FLASH_PERIOD so
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230 the on board LED flash rate will increase.
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232 In addition to the standard tests the memory allocator is tested through
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233 the dynamic creation and deletion of a task each cycle. Each time the
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234 task is created memory must be allocated for its stack. When the task is
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235 deleted this memory is returned to the heap. If the task cannot be created
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236 then it is likely that the memory allocation failed. */
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240 /* Reset xCreatedTask. This is modified by the task about to be
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241 created so we can tell if it is executing correctly or not. */
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242 xCreatedTask = mainNO_TASK;
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244 /* Dynamically create a task - passing ulMemCheckTaskRunningCount as a
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246 ulMemCheckTaskRunningCount = mainCOUNT_INITIAL_VALUE;
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247 if( xTaskCreate( vMemCheckTask, ( signed char * ) "MEM_CHECK", configMINIMAL_STACK_SIZE, ( void * ) &ulMemCheckTaskRunningCount, tskIDLE_PRIORITY, &xCreatedTask ) != pdPASS )
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249 /* Could not create the task - we have probably run out of heap. */
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250 xDelayPeriod = mainERROR_FLASH_PERIOD;
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253 /* Delay until it is time to execute again. */
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254 vTaskDelay( xDelayPeriod );
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256 /* Delete the dynamically created task. */
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257 if( xCreatedTask != mainNO_TASK )
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259 vTaskDelete( xCreatedTask );
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262 /* Check all the standard demo application tasks are executing without
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263 error. ulMemCheckTaskRunningCount is checked to ensure it was
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264 modified by the task just deleted. */
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265 if( prvCheckOtherTasksAreStillRunning( ulMemCheckTaskRunningCount ) != pdPASS )
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267 /* An error has been detected in one of the tasks - flash faster. */
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268 xDelayPeriod = mainERROR_FLASH_PERIOD;
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271 /* The toggle rate of the LED depends on how long this task delays for.
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272 An error reduces the delay period and so increases the toggle rate. */
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273 vParTestToggleLED( mainON_BOARD_LED_BIT );
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276 /*-----------------------------------------------------------*/
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278 static void prvSetupHardware( void )
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282 #ifdef RUN_FROM_ROM
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284 portFLOAT nsecsPerClockTick;
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285 long lNumWaitStates;
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286 unsigned long ulCSRWaitValue;
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288 /* We are compiling to run from ROM (either on-chip or off-chip flash).
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289 Leave the RAM/flash mapped the way they are on reset
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290 (flash @ 0x00000000, RAM @ 0x00300000), and set up the
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291 proper flash wait states (starts out at the maximum number
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292 of wait states on reset, so we should be able to reduce it).
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293 Most of this code will probably get removed by the compiler
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294 if optimization is enabled, since these calculations are
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295 based on constants. But the compiler should still produce
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296 a correct wait state register value. */
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297 nsecsPerClockTick = ( portFLOAT ) 1000000000 / configCPU_CLOCK_HZ;
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298 lNumWaitStates = ( long )( ( configFLASH_SPEED_NSEC / nsecsPerClockTick ) + 0.5 ) - 1;
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300 if( lNumWaitStates < 0 )
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302 lNumWaitStates = 0;
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305 if( lNumWaitStates > MAX_WAIT_STATES )
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307 lNumWaitStates = MAX_WAIT_STATES;
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310 ulCSRWaitValue = ululCSRWaitValues[ lNumWaitStates ];
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311 ulCSRWaitValue = WaitState5;
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313 AT91C_BASE_EBI->EBI_CSR[ 0 ] = ulCSRWaitValue | DataBus16 | WaitStateEnable
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314 | PageSize1M | tDF_0cycle
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315 | ByteWriteAccessType | CSEnable
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316 | 0x00000000 /* Base Address */;
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318 #else /* else we are compiling to run from on-chip RAM */
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320 /* If compiling to run from RAM, we expect the on-chip RAM to already
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321 be mapped at 0x00000000. This is typically done with an initialization
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322 script for the JTAG emulator you are using to download and run the
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323 demo application. So there is nothing to do here in this case. */
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327 /* Disable all interrupts at the AIC level initially... */
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328 AT91C_BASE_AIC->AIC_IDCR = 0xFFFFFFFF;
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330 /* Set all SVR and SMR entries to default values (start with a clean slate)... */
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331 for( lCount = 0; lCount < 32; lCount++ )
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333 AT91C_BASE_AIC->AIC_SVR[ lCount ] = (unsigned long) 0;
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334 AT91C_BASE_AIC->AIC_SMR[ lCount ] = AIC_SRCTYPE_INT_EDGE_TRIGGERED;
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337 /* Disable clocks to all peripherals initially... */
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338 AT91C_BASE_PS->PS_PCDR = 0xFFFFFFFF;
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340 /* Clear all interrupts at the AIC level initially... */
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341 AT91C_BASE_AIC->AIC_ICCR = 0xFFFFFFFF;
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343 /* Perform 8 "End Of Interrupt" cmds to make sure AIC will not Lock out
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345 for( lCount = 0; lCount < 8; lCount++ )
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347 AT91C_BASE_AIC->AIC_EOICR = 0;
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350 /* Initialise LED outputs. */
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351 vParTestInitialise();
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353 /*-----------------------------------------------------------*/
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355 static long prvCheckOtherTasksAreStillRunning( unsigned long ulMemCheckTaskCount )
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357 long lReturn = ( long ) pdPASS;
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359 /* Check all the demo tasks (other than the flash tasks) to ensure
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360 that they are all still running, and that none of them have detected
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363 if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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365 lReturn = ( long ) pdFAIL;
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368 if( xAreComTestTasksStillRunning() != pdTRUE )
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370 lReturn = ( long ) pdFAIL;
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373 if( xArePollingQueuesStillRunning() != pdTRUE )
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375 lReturn = ( long ) pdFAIL;
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378 if( xAreMathsTaskStillRunning() != pdTRUE )
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380 lReturn = ( long ) pdFAIL;
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383 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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385 lReturn = ( long ) pdFAIL;
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388 if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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390 lReturn = ( long ) pdFAIL;
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393 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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395 lReturn = ( long ) pdFAIL;
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398 if( ulMemCheckTaskCount == mainCOUNT_INITIAL_VALUE )
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400 /* The vMemCheckTask did not increment the counter - it must
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402 lReturn = ( long ) pdFAIL;
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407 /*-----------------------------------------------------------*/
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409 static void vMemCheckTask( void *pvParameters )
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411 unsigned long *pulMemCheckTaskRunningCounter;
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412 void *pvMem1, *pvMem2, *pvMem3;
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413 static long lErrorOccurred = pdFALSE;
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415 /* This task is dynamically created then deleted during each cycle of the
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416 vErrorChecks task to check the operation of the memory allocator. Each time
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417 the task is created memory is allocated for the stack and TCB. Each time
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418 the task is deleted this memory is returned to the heap. This task itself
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419 exercises the allocator by allocating and freeing blocks.
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421 The task executes at the idle priority so does not require a delay.
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423 pulMemCheckTaskRunningCounter is incremented each cycle to indicate to the
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424 vErrorChecks() task that this task is still executing without error. */
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426 pulMemCheckTaskRunningCounter = ( unsigned long * ) pvParameters;
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430 if( lErrorOccurred == pdFALSE )
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432 /* We have never seen an error so increment the counter. */
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433 ( *pulMemCheckTaskRunningCounter )++;
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437 /* There has been an error so reset the counter so the check task
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438 can tell that an error occurred. */
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439 *pulMemCheckTaskRunningCounter = mainCOUNT_INITIAL_VALUE;
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442 /* Allocate some memory - just to give the allocator some extra
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443 exercise. This has to be in a critical section to ensure the
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444 task does not get deleted while it has memory allocated. */
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447 pvMem1 = pvPortMalloc( mainMEM_CHECK_SIZE_1 );
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448 if( pvMem1 == NULL )
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450 lErrorOccurred = pdTRUE;
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454 memset( pvMem1, 0xaa, mainMEM_CHECK_SIZE_1 );
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455 vPortFree( pvMem1 );
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460 /* Again - with a different size block. */
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463 pvMem2 = pvPortMalloc( mainMEM_CHECK_SIZE_2 );
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464 if( pvMem2 == NULL )
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466 lErrorOccurred = pdTRUE;
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470 memset( pvMem2, 0xaa, mainMEM_CHECK_SIZE_2 );
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471 vPortFree( pvMem2 );
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476 /* Again - with a different size block. */
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479 pvMem3 = pvPortMalloc( mainMEM_CHECK_SIZE_3 );
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480 if( pvMem3 == NULL )
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482 lErrorOccurred = pdTRUE;
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486 memset( pvMem3, 0xaa, mainMEM_CHECK_SIZE_3 );
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487 vPortFree( pvMem3 );
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