2 FreeRTOS.org V4.5.0 - Copyright (C) 2003-2007 Richard Barry.
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4 This file is part of the FreeRTOS.org distribution.
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6 FreeRTOS.org 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.org 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.org; 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.org, 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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31 Also see http://www.SafeRTOS.com for an IEC 61508 compliant version along
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32 with commercial development and support options.
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33 ***************************************************************************
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37 NOTE : Tasks run in system mode and the scheduler runs in Supervisor mode.
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38 The processor MUST be in supervisor mode when vTaskStartScheduler is
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39 called. The demo applications included in the FreeRTOS.org download switch
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40 to supervisor mode prior to main being called. If you are not using one of
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41 these demo application projects then ensure Supervisor mode is used.
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46 * Creates all the demo application tasks, then starts the scheduler. The WEB
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47 * documentation provides more details of the demo application tasks.
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49 * Main.c also creates a task called "Check". This only executes every three
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50 * seconds but has the highest priority so is guaranteed to get processor time.
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51 * Its main function is to check that all the other tasks are still operational.
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52 * Each task (other than the "flash" tasks) maintains a unique count that is
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53 * incremented each time the task successfully completes its function. Should
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54 * any error occur within such a task the count is permanently halted. The
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55 * check task inspects the count of each task to ensure it has changed since
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56 * the last time the check task executed. If all the count variables have
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57 * changed all the tasks are still executing error free, and the check task
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58 * toggles the onboard LED. Should any task contain an error at any time
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59 * the LED toggle rate will change from 3 seconds to 500ms.
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61 * To check the operation of the memory allocator the check task also
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62 * dynamically creates a task before delaying, and deletes it again when it
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63 * wakes. If memory cannot be allocated for the new task the call to xTaskCreate
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64 * will fail and an error is signalled. The dynamically created task itself
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65 * allocates and frees memory just to give the allocator a bit more exercise.
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69 /* Standard includes. */
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73 /* Scheduler includes. */
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74 #include "FreeRTOS.h"
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77 /* Demo application includes. */
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78 #include "partest.h"
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80 #include "integer.h"
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82 #include "comtest2.h"
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83 #include "semtest.h"
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85 #include "dynamic.h"
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89 /* Hardware specific definitions. */
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93 /*-----------------------------------------------------------*/
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95 /* Constants for the ComTest tasks. */
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96 #define mainCOM_TEST_BAUD_RATE ( ( unsigned portLONG ) 115200 )
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97 #define mainCOM_TEST_LED ( 5 )
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99 /* Priorities for the demo application tasks. */
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100 #define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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101 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
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102 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
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103 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 4 )
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104 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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105 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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107 /* The rate at which the on board LED will toggle when there is/is not an
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109 #define mainNO_ERROR_FLASH_PERIOD ( ( portTickType ) 3000 / portTICK_RATE_MS )
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110 #define mainERROR_FLASH_PERIOD ( ( portTickType ) 500 / portTICK_RATE_MS )
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111 #define mainON_BOARD_LED_BIT ( ( unsigned portLONG ) 7 )
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113 /* Constants used by the vMemCheckTask() task. */
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114 #define mainCOUNT_INITIAL_VALUE ( ( unsigned portLONG ) 0 )
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115 #define mainNO_TASK ( 0 )
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117 /* The size of the memory blocks allocated by the vMemCheckTask() task. */
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118 #define mainMEM_CHECK_SIZE_1 ( ( size_t ) 51 )
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119 #define mainMEM_CHECK_SIZE_2 ( ( size_t ) 52 )
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120 #define mainMEM_CHECK_SIZE_3 ( ( size_t ) 151 )
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122 #define MAX_WAIT_STATES 8
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123 static const unsigned portLONG ululCSRWaitValues[ MAX_WAIT_STATES + 1 ] =
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125 WaitState1,/* There is no "zero wait state" value, so use one wait state */
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135 /*-----------------------------------------------------------*/
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138 * Checks that all the demo application tasks are still executing without error
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139 * - as described at the top of the file.
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141 static portLONG prvCheckOtherTasksAreStillRunning( unsigned portLONG ulMemCheckTaskCount );
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144 * The task that executes at the highest priority and calls
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145 * prvCheckOtherTasksAreStillRunning(). See the description at the top
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148 static void vErrorChecks( void *pvParameters );
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151 * Dynamically created and deleted during each cycle of the vErrorChecks()
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152 * task. This is done to check the operation of the memory allocator.
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153 * See the top of vErrorChecks for more details.
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155 static void vMemCheckTask( void *pvParameters );
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158 * Configure the processor for use with the Olimex demo board. This includes
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159 * setup for the I/O, system clock, and access timings.
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161 static void prvSetupHardware( void );
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163 /*-----------------------------------------------------------*/
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166 * Starts all the other tasks, then starts the scheduler.
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170 /* Setup the hardware for use with the Olimex demo board. */
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171 prvSetupHardware();
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173 /* Start the demo/test application tasks. */
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174 vStartIntegerMathTasks( tskIDLE_PRIORITY );
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175 vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
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176 vStartLEDFlashTasks( mainLED_TASK_PRIORITY );
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177 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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178 vStartMathTasks( tskIDLE_PRIORITY );
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179 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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180 vStartDynamicPriorityTasks();
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181 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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183 /* Start the check task - which is defined in this file. */
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184 xTaskCreate( vErrorChecks, ( signed portCHAR * ) "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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186 /* Now all the tasks have been started - start the scheduler.
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188 NOTE : Tasks run in system mode and the scheduler runs in Supervisor mode.
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189 The processor MUST be in supervisor mode when vTaskStartScheduler is
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190 called. The demo applications included in the FreeRTOS.org download switch
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191 to supervisor mode prior to main being called. If you are not using one of
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192 these demo application projects then ensure Supervisor mode is used here. */
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193 vTaskStartScheduler();
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195 /* Should never reach here! */
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198 /*-----------------------------------------------------------*/
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200 static void vErrorChecks( void *pvParameters )
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202 portTickType xDelayPeriod = mainNO_ERROR_FLASH_PERIOD;
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203 unsigned portLONG ulMemCheckTaskRunningCount;
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204 xTaskHandle xCreatedTask;
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206 /* Cycle for ever, delaying then checking all the other tasks are still
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207 operating without error. If an error is detected then the delay period
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208 is decreased from mainNO_ERROR_FLASH_PERIOD to mainERROR_FLASH_PERIOD so
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209 the on board LED flash rate will increase.
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211 In addition to the standard tests the memory allocator is tested through
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212 the dynamic creation and deletion of a task each cycle. Each time the
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213 task is created memory must be allocated for its stack. When the task is
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214 deleted this memory is returned to the heap. If the task cannot be created
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215 then it is likely that the memory allocation failed. */
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219 /* Reset xCreatedTask. This is modified by the task about to be
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220 created so we can tell if it is executing correctly or not. */
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221 xCreatedTask = mainNO_TASK;
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223 /* Dynamically create a task - passing ulMemCheckTaskRunningCount as a
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225 ulMemCheckTaskRunningCount = mainCOUNT_INITIAL_VALUE;
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226 if( xTaskCreate( vMemCheckTask, ( signed portCHAR * ) "MEM_CHECK", configMINIMAL_STACK_SIZE, ( void * ) &ulMemCheckTaskRunningCount, tskIDLE_PRIORITY, &xCreatedTask ) != pdPASS )
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228 /* Could not create the task - we have probably run out of heap. */
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229 xDelayPeriod = mainERROR_FLASH_PERIOD;
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232 /* Delay until it is time to execute again. */
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233 vTaskDelay( xDelayPeriod );
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235 /* Delete the dynamically created task. */
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236 if( xCreatedTask != mainNO_TASK )
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238 vTaskDelete( xCreatedTask );
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241 /* Check all the standard demo application tasks are executing without
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242 error. ulMemCheckTaskRunningCount is checked to ensure it was
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243 modified by the task just deleted. */
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244 if( prvCheckOtherTasksAreStillRunning( ulMemCheckTaskRunningCount ) != pdPASS )
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246 /* An error has been detected in one of the tasks - flash faster. */
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247 xDelayPeriod = mainERROR_FLASH_PERIOD;
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250 /* The toggle rate of the LED depends on how long this task delays for.
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251 An error reduces the delay period and so increases the toggle rate. */
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252 vParTestToggleLED( mainON_BOARD_LED_BIT );
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255 /*-----------------------------------------------------------*/
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257 static void prvSetupHardware( void )
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261 #ifdef RUN_FROM_ROM
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263 portFLOAT nsecsPerClockTick;
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264 portLONG lNumWaitStates;
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265 unsigned portLONG ulCSRWaitValue;
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267 /* We are compiling to run from ROM (either on-chip or off-chip flash).
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268 Leave the RAM/flash mapped the way they are on reset
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269 (flash @ 0x00000000, RAM @ 0x00300000), and set up the
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270 proper flash wait states (starts out at the maximum number
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271 of wait states on reset, so we should be able to reduce it).
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272 Most of this code will probably get removed by the compiler
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273 if optimization is enabled, since these calculations are
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274 based on constants. But the compiler should still produce
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275 a correct wait state register value. */
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276 nsecsPerClockTick = ( portFLOAT ) 1000000000 / configCPU_CLOCK_HZ;
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277 lNumWaitStates = ( portLONG )( ( configFLASH_SPEED_NSEC / nsecsPerClockTick ) + 0.5 ) - 1;
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279 if( lNumWaitStates < 0 )
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281 lNumWaitStates = 0;
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284 if( lNumWaitStates > MAX_WAIT_STATES )
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286 lNumWaitStates = MAX_WAIT_STATES;
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289 ulCSRWaitValue = ululCSRWaitValues[ lNumWaitStates ];
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290 ulCSRWaitValue = WaitState5;
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292 AT91C_BASE_EBI->EBI_CSR[ 0 ] = ulCSRWaitValue | DataBus16 | WaitStateEnable
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293 | PageSize1M | tDF_0cycle
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294 | ByteWriteAccessType | CSEnable
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295 | 0x00000000 /* Base Address */;
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297 #else /* else we are compiling to run from on-chip RAM */
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299 /* If compiling to run from RAM, we expect the on-chip RAM to already
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300 be mapped at 0x00000000. This is typically done with an initialization
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301 script for the JTAG emulator you are using to download and run the
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302 demo application. So there is nothing to do here in this case. */
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306 /* Disable all interrupts at the AIC level initially... */
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307 AT91C_BASE_AIC->AIC_IDCR = 0xFFFFFFFF;
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309 /* Set all SVR and SMR entries to default values (start with a clean slate)... */
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310 for( lCount = 0; lCount < 32; lCount++ )
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312 AT91C_BASE_AIC->AIC_SVR[ lCount ] = (unsigned long) 0;
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313 AT91C_BASE_AIC->AIC_SMR[ lCount ] = AIC_SRCTYPE_INT_EDGE_TRIGGERED;
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316 /* Disable clocks to all peripherals initially... */
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317 AT91C_BASE_PS->PS_PCDR = 0xFFFFFFFF;
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319 /* Clear all interrupts at the AIC level initially... */
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320 AT91C_BASE_AIC->AIC_ICCR = 0xFFFFFFFF;
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322 /* Perform 8 "End Of Interrupt" cmds to make sure AIC will not Lock out
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324 for( lCount = 0; lCount < 8; lCount++ )
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326 AT91C_BASE_AIC->AIC_EOICR = 0;
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329 /* Initialise LED outputs. */
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330 vParTestInitialise();
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332 /*-----------------------------------------------------------*/
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334 static portLONG prvCheckOtherTasksAreStillRunning( unsigned portLONG ulMemCheckTaskCount )
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336 portLONG lReturn = ( portLONG ) pdPASS;
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338 /* Check all the demo tasks (other than the flash tasks) to ensure
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339 that they are all still running, and that none of them have detected
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342 if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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344 lReturn = ( portLONG ) pdFAIL;
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347 if( xAreComTestTasksStillRunning() != pdTRUE )
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349 lReturn = ( portLONG ) pdFAIL;
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352 if( xArePollingQueuesStillRunning() != pdTRUE )
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354 lReturn = ( portLONG ) pdFAIL;
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357 if( xAreMathsTaskStillRunning() != pdTRUE )
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359 lReturn = ( portLONG ) pdFAIL;
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362 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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364 lReturn = ( portLONG ) pdFAIL;
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367 if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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369 lReturn = ( portLONG ) pdFAIL;
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372 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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374 lReturn = ( portLONG ) pdFAIL;
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377 if( ulMemCheckTaskCount == mainCOUNT_INITIAL_VALUE )
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379 /* The vMemCheckTask did not increment the counter - it must
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381 lReturn = ( portLONG ) pdFAIL;
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386 /*-----------------------------------------------------------*/
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388 static void vMemCheckTask( void *pvParameters )
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390 unsigned portLONG *pulMemCheckTaskRunningCounter;
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391 void *pvMem1, *pvMem2, *pvMem3;
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392 static portLONG lErrorOccurred = pdFALSE;
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394 /* This task is dynamically created then deleted during each cycle of the
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395 vErrorChecks task to check the operation of the memory allocator. Each time
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396 the task is created memory is allocated for the stack and TCB. Each time
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397 the task is deleted this memory is returned to the heap. This task itself
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398 exercises the allocator by allocating and freeing blocks.
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400 The task executes at the idle priority so does not require a delay.
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402 pulMemCheckTaskRunningCounter is incremented each cycle to indicate to the
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403 vErrorChecks() task that this task is still executing without error. */
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405 pulMemCheckTaskRunningCounter = ( unsigned portLONG * ) pvParameters;
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409 if( lErrorOccurred == pdFALSE )
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411 /* We have never seen an error so increment the counter. */
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412 ( *pulMemCheckTaskRunningCounter )++;
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416 /* There has been an error so reset the counter so the check task
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417 can tell that an error occurred. */
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418 *pulMemCheckTaskRunningCounter = mainCOUNT_INITIAL_VALUE;
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421 /* Allocate some memory - just to give the allocator some extra
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422 exercise. This has to be in a critical section to ensure the
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423 task does not get deleted while it has memory allocated. */
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426 pvMem1 = pvPortMalloc( mainMEM_CHECK_SIZE_1 );
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427 if( pvMem1 == NULL )
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429 lErrorOccurred = pdTRUE;
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433 memset( pvMem1, 0xaa, mainMEM_CHECK_SIZE_1 );
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434 vPortFree( pvMem1 );
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439 /* Again - with a different size block. */
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442 pvMem2 = pvPortMalloc( mainMEM_CHECK_SIZE_2 );
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443 if( pvMem2 == NULL )
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445 lErrorOccurred = pdTRUE;
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449 memset( pvMem2, 0xaa, mainMEM_CHECK_SIZE_2 );
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450 vPortFree( pvMem2 );
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455 /* Again - with a different size block. */
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458 pvMem3 = pvPortMalloc( mainMEM_CHECK_SIZE_3 );
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459 if( pvMem3 == NULL )
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461 lErrorOccurred = pdTRUE;
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465 memset( pvMem3, 0xaa, mainMEM_CHECK_SIZE_3 );
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466 vPortFree( pvMem3 );
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