2 FreeRTOS.org V5.3.1 - Copyright (C) 2003-2009 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 it
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7 under the terms of the GNU General Public License (version 2) as published
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8 by the Free Software Foundation and modified by the FreeRTOS exception.
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9 **NOTE** The exception to the GPL is included to allow you to distribute a
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10 combined work that includes FreeRTOS.org without being obliged to provide
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11 the source code for any proprietary components. Alternative commercial
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12 license and support terms are also available upon request. See the
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13 licensing section of http://www.FreeRTOS.org for full details.
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15 FreeRTOS.org is distributed in the hope that it will be useful, but WITHOUT
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16 ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
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17 FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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20 You should have received a copy of the GNU General Public License along
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21 with FreeRTOS.org; if not, write to the Free Software Foundation, Inc., 59
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22 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
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25 ***************************************************************************
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27 * Get the FreeRTOS eBook! See http://www.FreeRTOS.org/Documentation *
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29 * This is a concise, step by step, 'hands on' guide that describes both *
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30 * general multitasking concepts and FreeRTOS specifics. It presents and *
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31 * explains numerous examples that are written using the FreeRTOS API. *
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32 * Full source code for all the examples is provided in an accompanying *
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35 ***************************************************************************
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39 Please ensure to read the configuration and relevant port sections of the
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40 online documentation.
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42 http://www.FreeRTOS.org - Documentation, latest information, license and
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45 http://www.SafeRTOS.com - A version that is certified for use in safety
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48 http://www.OpenRTOS.com - Commercial support, development, porting,
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49 licensing and training services.
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53 NOTE : Tasks run in system mode and the scheduler runs in Supervisor mode.
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54 The processor MUST be in supervisor mode when vTaskStartScheduler is
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55 called. The demo applications included in the FreeRTOS.org download switch
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56 to supervisor mode prior to main being called. If you are not using one of
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57 these demo application projects then ensure Supervisor mode is used.
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62 * Creates all the demo application tasks, then starts the scheduler. The WEB
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63 * documentation provides more details of the demo application tasks.
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65 * Main.c also creates a task called "Check". This only executes every three
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66 * seconds but has the highest priority so is guaranteed to get processor time.
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67 * Its main function is to check that all the other tasks are still operational.
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68 * Each task (other than the "flash" tasks) maintains a unique count that is
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69 * incremented each time the task successfully completes its function. Should
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70 * any error occur within such a task the count is permanently halted. The
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71 * check task inspects the count of each task to ensure it has changed since
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72 * the last time the check task executed. If all the count variables have
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73 * changed all the tasks are still executing error free, and the check task
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74 * toggles the onboard LED. Should any task contain an error at any time
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75 * the LED toggle rate will change from 3 seconds to 500ms.
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77 * To check the operation of the memory allocator the check task also
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78 * dynamically creates a task before delaying, and deletes it again when it
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79 * wakes. If memory cannot be allocated for the new task the call to xTaskCreate
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80 * will fail and an error is signalled. The dynamically created task itself
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81 * allocates and frees memory just to give the allocator a bit more exercise.
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88 + The vErrorChecks() task now dynamically creates then deletes a task each
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89 cycle. This tests the operation of the memory allocator.
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93 + vParTestInitialise() is called during initialisation to ensure all the
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98 /* Standard includes. */
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100 #include <string.h>
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102 /* Scheduler includes. */
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103 #include "FreeRTOS.h"
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106 /* Demo application includes. */
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107 #include "partest.h"
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109 #include "integer.h"
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111 #include "comtest2.h"
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112 #include "semtest.h"
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114 #include "dynamic.h"
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115 #include "BlockQ.h"
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116 #include "serial.h"
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118 /*-----------------------------------------------------------*/
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120 /* Constants to setup I/O. */
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121 #define mainTX_ENABLE ( ( unsigned portLONG ) 0x0001 )
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122 #define mainRX_ENABLE ( ( unsigned portLONG ) 0x0004 )
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123 #define mainP0_14 ( ( unsigned portLONG ) 0x4000 )
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124 #define mainJTAG_PORT ( ( unsigned portLONG ) 0x3E0000UL )
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126 /* Constants to setup the PLL. */
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127 #define mainPLL_MUL_4 ( ( unsigned portCHAR ) 0x0003 )
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128 #define mainPLL_DIV_1 ( ( unsigned portCHAR ) 0x0000 )
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129 #define mainPLL_ENABLE ( ( unsigned portCHAR ) 0x0001 )
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130 #define mainPLL_CONNECT ( ( unsigned portCHAR ) 0x0003 )
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131 #define mainPLL_FEED_BYTE1 ( ( unsigned portCHAR ) 0xaa )
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132 #define mainPLL_FEED_BYTE2 ( ( unsigned portCHAR ) 0x55 )
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133 #define mainPLL_LOCK ( ( unsigned portLONG ) 0x0400 )
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135 /* Constants to setup the MAM. */
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136 #define mainMAM_TIM_3 ( ( unsigned portCHAR ) 0x03 )
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137 #define mainMAM_MODE_FULL ( ( unsigned portCHAR ) 0x02 )
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139 /* Constants to setup the peripheral bus. */
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140 #define mainBUS_CLK_FULL ( ( unsigned portCHAR ) 0x01 )
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142 /* Constants for the ComTest tasks. */
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143 #define mainCOM_TEST_BAUD_RATE ( ( unsigned portLONG ) 115200 )
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144 #define mainCOM_TEST_LED ( 3 )
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146 /* Priorities for the demo application tasks. */
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147 #define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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148 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
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149 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 0 )
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150 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 4 )
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151 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 0 )
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152 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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154 /* The rate at which the on board LED will toggle when there is/is not an
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156 #define mainNO_ERROR_FLASH_PERIOD ( ( portTickType ) 3000 / portTICK_RATE_MS )
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157 #define mainERROR_FLASH_PERIOD ( ( portTickType ) 500 / portTICK_RATE_MS )
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158 #define mainON_BOARD_LED_BIT ( ( unsigned portLONG ) 0x80 )
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160 /* Constants used by the vMemCheckTask() task. */
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161 #define mainCOUNT_INITIAL_VALUE ( ( unsigned portLONG ) 0 )
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162 #define mainNO_TASK ( 0 )
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164 /* The size of the memory blocks allocated by the vMemCheckTask() task. */
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165 #define mainMEM_CHECK_SIZE_1 ( ( size_t ) 51 )
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166 #define mainMEM_CHECK_SIZE_2 ( ( size_t ) 52 )
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167 #define mainMEM_CHECK_SIZE_3 ( ( size_t ) 151 )
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169 /*-----------------------------------------------------------*/
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172 * The Olimex demo board has a single built in LED. This function simply
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173 * toggles its state.
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175 void prvToggleOnBoardLED( void );
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178 * Checks that all the demo application tasks are still executing without error
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179 * - as described at the top of the file.
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181 static portLONG prvCheckOtherTasksAreStillRunning( unsigned portLONG ulMemCheckTaskCount );
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184 * The task that executes at the highest priority and calls
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185 * prvCheckOtherTasksAreStillRunning(). See the description at the top
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188 static void vErrorChecks( void *pvParameters );
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191 * Dynamically created and deleted during each cycle of the vErrorChecks()
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192 * task. This is done to check the operation of the memory allocator.
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193 * See the top of vErrorChecks for more details.
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195 static void vMemCheckTask( void *pvParameters );
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198 * Configure the processor for use with the Olimex demo board. This includes
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199 * setup for the I/O, system clock, and access timings.
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201 static void prvSetupHardware( void );
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203 /*-----------------------------------------------------------*/
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206 * Starts all the other tasks, then starts the scheduler.
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210 /* Setup the hardware for use with the Olimex demo board. */
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211 prvSetupHardware();
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213 /* Start the demo/test application tasks. */
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214 vStartIntegerMathTasks( tskIDLE_PRIORITY );
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215 vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
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216 vStartLEDFlashTasks( mainLED_TASK_PRIORITY );
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217 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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218 vStartMathTasks( tskIDLE_PRIORITY );
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219 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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220 vStartDynamicPriorityTasks();
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221 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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223 /* Start the check task - which is defined in this file. */
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224 xTaskCreate( vErrorChecks, ( signed portCHAR * ) "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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226 /* Now all the tasks have been started - start the scheduler.
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228 NOTE : Tasks run in system mode and the scheduler runs in Supervisor mode.
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229 The processor MUST be in supervisor mode when vTaskStartScheduler is
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230 called. The demo applications included in the FreeRTOS.org download switch
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231 to supervisor mode prior to main being called. If you are not using one of
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232 these demo application projects then ensure Supervisor mode is used here. */
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233 vTaskStartScheduler();
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235 /* Should never reach here! */
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238 /*-----------------------------------------------------------*/
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240 static void vErrorChecks( void *pvParameters )
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242 portTickType xDelayPeriod = mainNO_ERROR_FLASH_PERIOD;
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243 unsigned portLONG ulMemCheckTaskRunningCount;
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244 xTaskHandle xCreatedTask;
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246 /* The parameters are not used in this function. */
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247 ( void ) pvParameters;
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249 /* Cycle for ever, delaying then checking all the other tasks are still
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250 operating without error. If an error is detected then the delay period
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251 is decreased from mainNO_ERROR_FLASH_PERIOD to mainERROR_FLASH_PERIOD so
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252 the on board LED flash rate will increase.
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254 In addition to the standard tests the memory allocator is tested through
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255 the dynamic creation and deletion of a task each cycle. Each time the
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256 task is created memory must be allocated for its stack. When the task is
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257 deleted this memory is returned to the heap. If the task cannot be created
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258 then it is likely that the memory allocation failed. */
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262 /* Dynamically create a task - passing ulMemCheckTaskRunningCount as a
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264 ulMemCheckTaskRunningCount = mainCOUNT_INITIAL_VALUE;
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265 xCreatedTask = mainNO_TASK;
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267 if( xTaskCreate( vMemCheckTask, ( signed portCHAR * ) "MEM_CHECK", configMINIMAL_STACK_SIZE, ( void * ) &ulMemCheckTaskRunningCount, tskIDLE_PRIORITY, &xCreatedTask ) != pdPASS )
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269 /* Could not create the task - we have probably run out of heap. */
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270 xDelayPeriod = mainERROR_FLASH_PERIOD;
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273 /* Delay until it is time to execute again. */
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274 vTaskDelay( xDelayPeriod );
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276 /* Delete the dynamically created task. */
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277 if( xCreatedTask != mainNO_TASK )
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279 vTaskDelete( xCreatedTask );
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282 /* Check all the standard demo application tasks are executing without
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283 error. ulMemCheckTaskRunningCount is checked to ensure it was
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284 modified by the task just deleted. */
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285 if( prvCheckOtherTasksAreStillRunning( ulMemCheckTaskRunningCount ) != pdPASS )
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287 /* An error has been detected in one of the tasks - flash faster. */
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288 xDelayPeriod = mainERROR_FLASH_PERIOD;
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291 prvToggleOnBoardLED();
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294 /*-----------------------------------------------------------*/
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296 static void prvSetupHardware( void )
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298 #ifdef RUN_FROM_RAM
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299 /* Remap the interrupt vectors to RAM if we are are running from RAM. */
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303 /* Configure the RS2332 pins. All other pins remain at their default of 0. */
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304 PCB_PINSEL0 |= mainTX_ENABLE;
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305 PCB_PINSEL0 |= mainRX_ENABLE;
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307 /* Set all GPIO to output other than the P0.14 (BSL), and the JTAG pins.
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308 The JTAG pins are left as input as I'm not sure what will happen if the
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309 Wiggler is connected after powerup - not that it would be a good idea to
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311 GPIO_IODIR = ~( mainP0_14 + mainJTAG_PORT );
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313 /* Setup the PLL to multiply the XTAL input by 4. */
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314 SCB_PLLCFG = ( mainPLL_MUL_4 | mainPLL_DIV_1 );
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316 /* Activate the PLL by turning it on then feeding the correct sequence of
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318 SCB_PLLCON = mainPLL_ENABLE;
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319 SCB_PLLFEED = mainPLL_FEED_BYTE1;
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320 SCB_PLLFEED = mainPLL_FEED_BYTE2;
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322 /* Wait for the PLL to lock... */
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323 while( !( SCB_PLLSTAT & mainPLL_LOCK ) );
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325 /* ...before connecting it using the feed sequence again. */
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326 SCB_PLLCON = mainPLL_CONNECT;
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327 SCB_PLLFEED = mainPLL_FEED_BYTE1;
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328 SCB_PLLFEED = mainPLL_FEED_BYTE2;
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330 /* Setup and turn on the MAM. Three cycle access is used due to the fast
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331 PLL used. It is possible faster overall performance could be obtained by
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332 tuning the MAM and PLL settings. */
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333 MAM_TIM = mainMAM_TIM_3;
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334 MAM_CR = mainMAM_MODE_FULL;
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336 /* Setup the peripheral bus to be the same as the PLL output. */
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337 SCB_VPBDIV = mainBUS_CLK_FULL;
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339 /* Initialise LED outputs. */
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340 vParTestInitialise();
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342 /*-----------------------------------------------------------*/
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344 void prvToggleOnBoardLED( void )
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346 unsigned portLONG ulState;
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348 ulState = GPIO0_IOPIN;
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349 if( ulState & mainON_BOARD_LED_BIT )
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351 GPIO_IOCLR = mainON_BOARD_LED_BIT;
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355 GPIO_IOSET = mainON_BOARD_LED_BIT;
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358 /*-----------------------------------------------------------*/
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360 static portLONG prvCheckOtherTasksAreStillRunning( unsigned portLONG ulMemCheckTaskCount )
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362 portLONG lReturn = ( portLONG ) pdPASS;
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364 /* Check all the demo tasks (other than the flash tasks) to ensure
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365 that they are all still running, and that none of them have detected
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368 if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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370 lReturn = ( portLONG ) pdFAIL;
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373 if( xAreComTestTasksStillRunning() != pdTRUE )
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375 lReturn = ( portLONG ) pdFAIL;
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378 if( xArePollingQueuesStillRunning() != pdTRUE )
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380 lReturn = ( portLONG ) pdFAIL;
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383 if( xAreMathsTaskStillRunning() != pdTRUE )
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385 lReturn = ( portLONG ) pdFAIL;
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388 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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390 lReturn = ( portLONG ) pdFAIL;
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393 if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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395 lReturn = ( portLONG ) pdFAIL;
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398 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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400 lReturn = ( portLONG ) pdFAIL;
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403 if( ulMemCheckTaskCount == mainCOUNT_INITIAL_VALUE )
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405 /* The vMemCheckTask did not increment the counter - it must
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407 lReturn = ( portLONG ) pdFAIL;
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412 /*-----------------------------------------------------------*/
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414 static void vMemCheckTask( void *pvParameters )
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416 unsigned portLONG *pulMemCheckTaskRunningCounter;
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417 void *pvMem1, *pvMem2, *pvMem3;
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418 static portLONG lErrorOccurred = pdFALSE;
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420 /* This task is dynamically created then deleted during each cycle of the
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421 vErrorChecks task to check the operation of the memory allocator. Each time
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422 the task is created memory is allocated for the stack and TCB. Each time
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423 the task is deleted this memory is returned to the heap. This task itself
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424 exercises the allocator by allocating and freeing blocks.
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426 The task executes at the idle priority so does not require a delay.
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428 pulMemCheckTaskRunningCounter is incremented each cycle to indicate to the
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429 vErrorChecks() task that this task is still executing without error. */
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431 pulMemCheckTaskRunningCounter = ( unsigned portLONG * ) pvParameters;
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435 if( lErrorOccurred == pdFALSE )
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437 /* We have never seen an error so increment the counter. */
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438 ( *pulMemCheckTaskRunningCounter )++;
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441 /* Allocate some memory - just to give the allocator some extra
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442 exercise. This has to be in a critical section to ensure the
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443 task does not get deleted while it has memory allocated. */
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446 pvMem1 = pvPortMalloc( mainMEM_CHECK_SIZE_1 );
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447 if( pvMem1 == NULL )
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449 lErrorOccurred = pdTRUE;
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453 memset( pvMem1, 0xaa, mainMEM_CHECK_SIZE_1 );
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454 vPortFree( pvMem1 );
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459 /* Again - with a different size block. */
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462 pvMem2 = pvPortMalloc( mainMEM_CHECK_SIZE_2 );
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463 if( pvMem2 == NULL )
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465 lErrorOccurred = pdTRUE;
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469 memset( pvMem2, 0xaa, mainMEM_CHECK_SIZE_2 );
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470 vPortFree( pvMem2 );
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475 /* Again - with a different size block. */
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478 pvMem3 = pvPortMalloc( mainMEM_CHECK_SIZE_3 );
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479 if( pvMem3 == NULL )
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481 lErrorOccurred = pdTRUE;
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485 memset( pvMem3, 0xaa, mainMEM_CHECK_SIZE_3 );
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486 vPortFree( pvMem3 );
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