2 FreeRTOS.org V5.1.0 - Copyright (C) 2003-2008 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 ***************************************************************************
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29 * SAVE TIME AND MONEY! We can port FreeRTOS.org to your own hardware, *
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30 * and even write all or part of your application on your behalf. *
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31 * See http://www.OpenRTOS.com for details of the services we provide to *
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32 * expedite your project. *
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34 ***************************************************************************
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35 ***************************************************************************
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37 Please ensure to read the configuration and relevant port sections of the
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38 online documentation.
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40 http://www.FreeRTOS.org - Documentation, latest information, license and
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43 http://www.SafeRTOS.com - A version that is certified for use in safety
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46 http://www.OpenRTOS.com - Commercial support, development, porting,
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47 licensing and training services.
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51 NOTE : Tasks run in system mode and the scheduler runs in Supervisor mode.
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52 The processor MUST be in supervisor mode when vTaskStartScheduler is
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53 called. The demo applications included in the FreeRTOS.org download switch
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54 to supervisor mode prior to main being called. If you are not using one of
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55 these demo application projects then ensure Supervisor mode is used.
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60 * Creates all the demo application tasks, then starts the scheduler. The WEB
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61 * documentation provides more details of the demo application tasks.
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63 * Main.c also creates a task called "Check". This only executes every three
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64 * seconds but has the highest priority so is guaranteed to get processor time.
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65 * Its main function is to check that all the other tasks are still operational.
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66 * Each task (other than the "flash" tasks) maintains a unique count that is
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67 * incremented each time the task successfully completes its function. Should
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68 * any error occur within such a task the count is permanently halted. The
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69 * check task inspects the count of each task to ensure it has changed since
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70 * the last time the check task executed. If all the count variables have
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71 * changed all the tasks are still executing error free, and the check task
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72 * toggles the onboard LED. Should any task contain an error at any time
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73 * the LED toggle rate will change from 3 seconds to 500ms.
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75 * To check the operation of the memory allocator the check task also
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76 * dynamically creates a task before delaying, and deletes it again when it
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77 * wakes. If memory cannot be allocated for the new task the call to xTaskCreate
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78 * will fail and an error is signalled. The dynamically created task itself
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79 * allocates and frees memory just to give the allocator a bit more exercise.
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83 /* Standard includes. */
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87 /* Scheduler includes. */
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88 #include "FreeRTOS.h"
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91 /* Demo application includes. */
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92 #include "partest.h"
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94 #include "integer.h"
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96 #include "comtest2.h"
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97 #include "semtest.h"
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99 #include "dynamic.h"
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100 #include "BlockQ.h"
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101 #include "serial.h"
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103 /* Hardware specific definitions. */
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107 /*-----------------------------------------------------------*/
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109 /* Constants for the ComTest tasks. */
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110 #define mainCOM_TEST_BAUD_RATE ( ( unsigned portLONG ) 115200 )
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111 #define mainCOM_TEST_LED ( 5 )
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113 /* Priorities for the demo application tasks. */
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114 #define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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115 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
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116 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
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117 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 4 )
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118 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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119 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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121 /* The rate at which the on board LED will toggle when there is/is not an
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123 #define mainNO_ERROR_FLASH_PERIOD ( ( portTickType ) 3000 / portTICK_RATE_MS )
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124 #define mainERROR_FLASH_PERIOD ( ( portTickType ) 500 / portTICK_RATE_MS )
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125 #define mainON_BOARD_LED_BIT ( ( unsigned portLONG ) 7 )
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127 /* Constants used by the vMemCheckTask() task. */
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128 #define mainCOUNT_INITIAL_VALUE ( ( unsigned portLONG ) 0 )
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129 #define mainNO_TASK ( 0 )
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131 /* The size of the memory blocks allocated by the vMemCheckTask() task. */
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132 #define mainMEM_CHECK_SIZE_1 ( ( size_t ) 51 )
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133 #define mainMEM_CHECK_SIZE_2 ( ( size_t ) 52 )
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134 #define mainMEM_CHECK_SIZE_3 ( ( size_t ) 151 )
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136 #define MAX_WAIT_STATES 8
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137 static const unsigned portLONG ululCSRWaitValues[ MAX_WAIT_STATES + 1 ] =
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139 WaitState1,/* There is no "zero wait state" value, so use one wait state */
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149 /*-----------------------------------------------------------*/
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152 * Checks that all the demo application tasks are still executing without error
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153 * - as described at the top of the file.
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155 static portLONG prvCheckOtherTasksAreStillRunning( unsigned portLONG ulMemCheckTaskCount );
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158 * The task that executes at the highest priority and calls
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159 * prvCheckOtherTasksAreStillRunning(). See the description at the top
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162 static void vErrorChecks( void *pvParameters );
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165 * Dynamically created and deleted during each cycle of the vErrorChecks()
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166 * task. This is done to check the operation of the memory allocator.
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167 * See the top of vErrorChecks for more details.
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169 static void vMemCheckTask( void *pvParameters );
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172 * Configure the processor for use with the Olimex demo board. This includes
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173 * setup for the I/O, system clock, and access timings.
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175 static void prvSetupHardware( void );
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177 /*-----------------------------------------------------------*/
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180 * Starts all the other tasks, then starts the scheduler.
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184 /* Setup the hardware for use with the Olimex demo board. */
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185 prvSetupHardware();
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187 /* Start the demo/test application tasks. */
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188 vStartIntegerMathTasks( tskIDLE_PRIORITY );
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189 vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
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190 vStartLEDFlashTasks( mainLED_TASK_PRIORITY );
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191 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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192 vStartMathTasks( tskIDLE_PRIORITY );
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193 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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194 vStartDynamicPriorityTasks();
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195 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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197 /* Start the check task - which is defined in this file. */
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198 xTaskCreate( vErrorChecks, ( signed portCHAR * ) "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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200 /* Now all the tasks have been started - start the scheduler.
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202 NOTE : Tasks run in system mode and the scheduler runs in Supervisor mode.
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203 The processor MUST be in supervisor mode when vTaskStartScheduler is
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204 called. The demo applications included in the FreeRTOS.org download switch
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205 to supervisor mode prior to main being called. If you are not using one of
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206 these demo application projects then ensure Supervisor mode is used here. */
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207 vTaskStartScheduler();
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209 /* Should never reach here! */
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212 /*-----------------------------------------------------------*/
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214 static void vErrorChecks( void *pvParameters )
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216 portTickType xDelayPeriod = mainNO_ERROR_FLASH_PERIOD;
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217 unsigned portLONG ulMemCheckTaskRunningCount;
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218 xTaskHandle xCreatedTask;
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220 /* Cycle for ever, delaying then checking all the other tasks are still
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221 operating without error. If an error is detected then the delay period
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222 is decreased from mainNO_ERROR_FLASH_PERIOD to mainERROR_FLASH_PERIOD so
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223 the on board LED flash rate will increase.
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225 In addition to the standard tests the memory allocator is tested through
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226 the dynamic creation and deletion of a task each cycle. Each time the
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227 task is created memory must be allocated for its stack. When the task is
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228 deleted this memory is returned to the heap. If the task cannot be created
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229 then it is likely that the memory allocation failed. */
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233 /* Reset xCreatedTask. This is modified by the task about to be
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234 created so we can tell if it is executing correctly or not. */
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235 xCreatedTask = mainNO_TASK;
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237 /* Dynamically create a task - passing ulMemCheckTaskRunningCount as a
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239 ulMemCheckTaskRunningCount = mainCOUNT_INITIAL_VALUE;
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240 if( xTaskCreate( vMemCheckTask, ( signed portCHAR * ) "MEM_CHECK", configMINIMAL_STACK_SIZE, ( void * ) &ulMemCheckTaskRunningCount, tskIDLE_PRIORITY, &xCreatedTask ) != pdPASS )
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242 /* Could not create the task - we have probably run out of heap. */
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243 xDelayPeriod = mainERROR_FLASH_PERIOD;
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246 /* Delay until it is time to execute again. */
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247 vTaskDelay( xDelayPeriod );
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249 /* Delete the dynamically created task. */
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250 if( xCreatedTask != mainNO_TASK )
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252 vTaskDelete( xCreatedTask );
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255 /* Check all the standard demo application tasks are executing without
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256 error. ulMemCheckTaskRunningCount is checked to ensure it was
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257 modified by the task just deleted. */
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258 if( prvCheckOtherTasksAreStillRunning( ulMemCheckTaskRunningCount ) != pdPASS )
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260 /* An error has been detected in one of the tasks - flash faster. */
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261 xDelayPeriod = mainERROR_FLASH_PERIOD;
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264 /* The toggle rate of the LED depends on how long this task delays for.
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265 An error reduces the delay period and so increases the toggle rate. */
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266 vParTestToggleLED( mainON_BOARD_LED_BIT );
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269 /*-----------------------------------------------------------*/
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271 static void prvSetupHardware( void )
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275 #ifdef RUN_FROM_ROM
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277 portFLOAT nsecsPerClockTick;
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278 portLONG lNumWaitStates;
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279 unsigned portLONG ulCSRWaitValue;
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281 /* We are compiling to run from ROM (either on-chip or off-chip flash).
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282 Leave the RAM/flash mapped the way they are on reset
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283 (flash @ 0x00000000, RAM @ 0x00300000), and set up the
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284 proper flash wait states (starts out at the maximum number
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285 of wait states on reset, so we should be able to reduce it).
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286 Most of this code will probably get removed by the compiler
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287 if optimization is enabled, since these calculations are
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288 based on constants. But the compiler should still produce
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289 a correct wait state register value. */
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290 nsecsPerClockTick = ( portFLOAT ) 1000000000 / configCPU_CLOCK_HZ;
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291 lNumWaitStates = ( portLONG )( ( configFLASH_SPEED_NSEC / nsecsPerClockTick ) + 0.5 ) - 1;
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293 if( lNumWaitStates < 0 )
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295 lNumWaitStates = 0;
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298 if( lNumWaitStates > MAX_WAIT_STATES )
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300 lNumWaitStates = MAX_WAIT_STATES;
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303 ulCSRWaitValue = ululCSRWaitValues[ lNumWaitStates ];
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304 ulCSRWaitValue = WaitState5;
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306 AT91C_BASE_EBI->EBI_CSR[ 0 ] = ulCSRWaitValue | DataBus16 | WaitStateEnable
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307 | PageSize1M | tDF_0cycle
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308 | ByteWriteAccessType | CSEnable
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309 | 0x00000000 /* Base Address */;
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311 #else /* else we are compiling to run from on-chip RAM */
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313 /* If compiling to run from RAM, we expect the on-chip RAM to already
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314 be mapped at 0x00000000. This is typically done with an initialization
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315 script for the JTAG emulator you are using to download and run the
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316 demo application. So there is nothing to do here in this case. */
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320 /* Disable all interrupts at the AIC level initially... */
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321 AT91C_BASE_AIC->AIC_IDCR = 0xFFFFFFFF;
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323 /* Set all SVR and SMR entries to default values (start with a clean slate)... */
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324 for( lCount = 0; lCount < 32; lCount++ )
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326 AT91C_BASE_AIC->AIC_SVR[ lCount ] = (unsigned long) 0;
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327 AT91C_BASE_AIC->AIC_SMR[ lCount ] = AIC_SRCTYPE_INT_EDGE_TRIGGERED;
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330 /* Disable clocks to all peripherals initially... */
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331 AT91C_BASE_PS->PS_PCDR = 0xFFFFFFFF;
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333 /* Clear all interrupts at the AIC level initially... */
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334 AT91C_BASE_AIC->AIC_ICCR = 0xFFFFFFFF;
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336 /* Perform 8 "End Of Interrupt" cmds to make sure AIC will not Lock out
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338 for( lCount = 0; lCount < 8; lCount++ )
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340 AT91C_BASE_AIC->AIC_EOICR = 0;
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343 /* Initialise LED outputs. */
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344 vParTestInitialise();
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346 /*-----------------------------------------------------------*/
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348 static portLONG prvCheckOtherTasksAreStillRunning( unsigned portLONG ulMemCheckTaskCount )
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350 portLONG lReturn = ( portLONG ) pdPASS;
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352 /* Check all the demo tasks (other than the flash tasks) to ensure
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353 that they are all still running, and that none of them have detected
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356 if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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358 lReturn = ( portLONG ) pdFAIL;
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361 if( xAreComTestTasksStillRunning() != pdTRUE )
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363 lReturn = ( portLONG ) pdFAIL;
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366 if( xArePollingQueuesStillRunning() != pdTRUE )
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368 lReturn = ( portLONG ) pdFAIL;
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371 if( xAreMathsTaskStillRunning() != pdTRUE )
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373 lReturn = ( portLONG ) pdFAIL;
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376 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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378 lReturn = ( portLONG ) pdFAIL;
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381 if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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383 lReturn = ( portLONG ) pdFAIL;
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386 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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388 lReturn = ( portLONG ) pdFAIL;
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391 if( ulMemCheckTaskCount == mainCOUNT_INITIAL_VALUE )
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393 /* The vMemCheckTask did not increment the counter - it must
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395 lReturn = ( portLONG ) pdFAIL;
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400 /*-----------------------------------------------------------*/
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402 static void vMemCheckTask( void *pvParameters )
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404 unsigned portLONG *pulMemCheckTaskRunningCounter;
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405 void *pvMem1, *pvMem2, *pvMem3;
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406 static portLONG lErrorOccurred = pdFALSE;
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408 /* This task is dynamically created then deleted during each cycle of the
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409 vErrorChecks task to check the operation of the memory allocator. Each time
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410 the task is created memory is allocated for the stack and TCB. Each time
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411 the task is deleted this memory is returned to the heap. This task itself
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412 exercises the allocator by allocating and freeing blocks.
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414 The task executes at the idle priority so does not require a delay.
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416 pulMemCheckTaskRunningCounter is incremented each cycle to indicate to the
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417 vErrorChecks() task that this task is still executing without error. */
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419 pulMemCheckTaskRunningCounter = ( unsigned portLONG * ) pvParameters;
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423 if( lErrorOccurred == pdFALSE )
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425 /* We have never seen an error so increment the counter. */
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426 ( *pulMemCheckTaskRunningCounter )++;
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430 /* There has been an error so reset the counter so the check task
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431 can tell that an error occurred. */
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432 *pulMemCheckTaskRunningCounter = mainCOUNT_INITIAL_VALUE;
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435 /* Allocate some memory - just to give the allocator some extra
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436 exercise. This has to be in a critical section to ensure the
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437 task does not get deleted while it has memory allocated. */
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440 pvMem1 = pvPortMalloc( mainMEM_CHECK_SIZE_1 );
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441 if( pvMem1 == NULL )
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443 lErrorOccurred = pdTRUE;
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447 memset( pvMem1, 0xaa, mainMEM_CHECK_SIZE_1 );
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448 vPortFree( pvMem1 );
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453 /* Again - with a different size block. */
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456 pvMem2 = pvPortMalloc( mainMEM_CHECK_SIZE_2 );
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457 if( pvMem2 == NULL )
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459 lErrorOccurred = pdTRUE;
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463 memset( pvMem2, 0xaa, mainMEM_CHECK_SIZE_2 );
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464 vPortFree( pvMem2 );
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469 /* Again - with a different size block. */
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472 pvMem3 = pvPortMalloc( mainMEM_CHECK_SIZE_3 );
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473 if( pvMem3 == NULL )
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475 lErrorOccurred = pdTRUE;
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479 memset( pvMem3, 0xaa, mainMEM_CHECK_SIZE_3 );
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480 vPortFree( pvMem3 );
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