2 FreeRTOS.org V5.1.2 - 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
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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 * Get the FreeRTOS eBook! See http://www.FreeRTOS.org/Documentation *
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31 * This is a concise, step by step, 'hands on' guide that describes both *
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32 * general multitasking concepts and FreeRTOS specifics. It presents and *
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33 * explains numerous examples that are written using the FreeRTOS API. *
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34 * Full source code for all the examples is provided in an accompanying *
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37 ***************************************************************************
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38 ***************************************************************************
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40 Please ensure to read the configuration and relevant port sections of the
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41 online documentation.
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43 http://www.FreeRTOS.org - Documentation, latest information, license and
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46 http://www.SafeRTOS.com - A version that is certified for use in safety
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49 http://www.OpenRTOS.com - Commercial support, development, porting,
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50 licensing and training services.
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54 NOTE : Tasks run in system mode and the scheduler runs in Supervisor mode.
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55 The processor MUST be in supervisor mode when vTaskStartScheduler is
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56 called. The demo applications included in the FreeRTOS.org download switch
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57 to supervisor mode prior to main being called. If you are not using one of
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58 these demo application projects then ensure Supervisor mode is used.
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63 * Creates all the demo application tasks, then starts the scheduler. The WEB
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64 * documentation provides more details of the demo application tasks.
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66 * Main.c also creates a task called "Check". This only executes every three
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67 * seconds but has the highest priority so is guaranteed to get processor time.
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68 * Its main function is to check that all the other tasks are still operational.
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69 * Each task (other than the "flash" tasks) maintains a unique count that is
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70 * incremented each time the task successfully completes its function. Should
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71 * any error occur within such a task the count is permanently halted. The
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72 * check task inspects the count of each task to ensure it has changed since
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73 * the last time the check task executed. If all the count variables have
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74 * changed all the tasks are still executing error free, and the check task
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75 * toggles the onboard LED. Should any task contain an error at any time
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76 * the LED toggle rate will change from 3 seconds to 500ms.
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78 * To check the operation of the memory allocator the check task also
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79 * dynamically creates a task before delaying, and deletes it again when it
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80 * wakes. If memory cannot be allocated for the new task the call to xTaskCreate
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81 * will fail and an error is signalled. The dynamically created task itself
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82 * allocates and frees memory just to give the allocator a bit more exercise.
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89 + The vErrorChecks() task now dynamically creates then deletes a task each
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90 cycle. This tests the operation of the memory allocator.
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94 + vParTestInitialise() is called during initialisation to ensure all the
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99 /* Standard includes. */
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100 #include <stdlib.h>
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101 #include <string.h>
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103 /* Scheduler includes. */
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104 #include "FreeRTOS.h"
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107 /* Demo application includes. */
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108 #include "partest.h"
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110 #include "integer.h"
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112 #include "comtest2.h"
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113 #include "semtest.h"
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115 #include "dynamic.h"
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116 #include "BlockQ.h"
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117 #include "serial.h"
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119 /*-----------------------------------------------------------*/
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121 /* Constants to setup I/O. */
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122 #define mainTX_ENABLE ( ( unsigned portLONG ) 0x0001 )
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123 #define mainRX_ENABLE ( ( unsigned portLONG ) 0x0004 )
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124 #define mainP0_14 ( ( unsigned portLONG ) 0x4000 )
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125 #define mainJTAG_PORT ( ( unsigned portLONG ) 0x3E0000UL )
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127 /* Constants to setup the PLL. */
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128 #define mainPLL_MUL_4 ( ( unsigned portCHAR ) 0x0003 )
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129 #define mainPLL_DIV_1 ( ( unsigned portCHAR ) 0x0000 )
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130 #define mainPLL_ENABLE ( ( unsigned portCHAR ) 0x0001 )
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131 #define mainPLL_CONNECT ( ( unsigned portCHAR ) 0x0003 )
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132 #define mainPLL_FEED_BYTE1 ( ( unsigned portCHAR ) 0xaa )
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133 #define mainPLL_FEED_BYTE2 ( ( unsigned portCHAR ) 0x55 )
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134 #define mainPLL_LOCK ( ( unsigned portLONG ) 0x0400 )
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136 /* Constants to setup the MAM. */
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137 #define mainMAM_TIM_3 ( ( unsigned portCHAR ) 0x03 )
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138 #define mainMAM_MODE_FULL ( ( unsigned portCHAR ) 0x02 )
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140 /* Constants to setup the peripheral bus. */
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141 #define mainBUS_CLK_FULL ( ( unsigned portCHAR ) 0x01 )
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143 /* Constants for the ComTest tasks. */
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144 #define mainCOM_TEST_BAUD_RATE ( ( unsigned portLONG ) 115200 )
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145 #define mainCOM_TEST_LED ( 3 )
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147 /* Priorities for the demo application tasks. */
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148 #define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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149 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
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150 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 0 )
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151 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 4 )
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152 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 0 )
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153 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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155 /* The rate at which the on board LED will toggle when there is/is not an
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157 #define mainNO_ERROR_FLASH_PERIOD ( ( portTickType ) 3000 / portTICK_RATE_MS )
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158 #define mainERROR_FLASH_PERIOD ( ( portTickType ) 500 / portTICK_RATE_MS )
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159 #define mainON_BOARD_LED_BIT ( ( unsigned portLONG ) 0x80 )
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161 /* Constants used by the vMemCheckTask() task. */
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162 #define mainCOUNT_INITIAL_VALUE ( ( unsigned portLONG ) 0 )
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163 #define mainNO_TASK ( 0 )
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165 /* The size of the memory blocks allocated by the vMemCheckTask() task. */
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166 #define mainMEM_CHECK_SIZE_1 ( ( size_t ) 51 )
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167 #define mainMEM_CHECK_SIZE_2 ( ( size_t ) 52 )
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168 #define mainMEM_CHECK_SIZE_3 ( ( size_t ) 151 )
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170 /*-----------------------------------------------------------*/
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173 * The Olimex demo board has a single built in LED. This function simply
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174 * toggles its state.
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176 void prvToggleOnBoardLED( void );
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179 * Checks that all the demo application tasks are still executing without error
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180 * - as described at the top of the file.
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182 static portLONG prvCheckOtherTasksAreStillRunning( unsigned portLONG ulMemCheckTaskCount );
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185 * The task that executes at the highest priority and calls
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186 * prvCheckOtherTasksAreStillRunning(). See the description at the top
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189 static void vErrorChecks( void *pvParameters );
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192 * Dynamically created and deleted during each cycle of the vErrorChecks()
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193 * task. This is done to check the operation of the memory allocator.
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194 * See the top of vErrorChecks for more details.
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196 static void vMemCheckTask( void *pvParameters );
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199 * Configure the processor for use with the Olimex demo board. This includes
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200 * setup for the I/O, system clock, and access timings.
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202 static void prvSetupHardware( void );
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204 /*-----------------------------------------------------------*/
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207 * Starts all the other tasks, then starts the scheduler.
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211 /* Setup the hardware for use with the Olimex demo board. */
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212 prvSetupHardware();
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214 /* Start the demo/test application tasks. */
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215 vStartIntegerMathTasks( tskIDLE_PRIORITY );
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216 vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
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217 vStartLEDFlashTasks( mainLED_TASK_PRIORITY );
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218 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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219 vStartMathTasks( tskIDLE_PRIORITY );
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220 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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221 vStartDynamicPriorityTasks();
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222 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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224 /* Start the check task - which is defined in this file. */
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225 xTaskCreate( vErrorChecks, ( signed portCHAR * ) "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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227 /* Now all the tasks have been started - start the scheduler.
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229 NOTE : Tasks run in system mode and the scheduler runs in Supervisor mode.
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230 The processor MUST be in supervisor mode when vTaskStartScheduler is
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231 called. The demo applications included in the FreeRTOS.org download switch
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232 to supervisor mode prior to main being called. If you are not using one of
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233 these demo application projects then ensure Supervisor mode is used here. */
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234 vTaskStartScheduler();
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236 /* Should never reach here! */
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239 /*-----------------------------------------------------------*/
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241 static void vErrorChecks( void *pvParameters )
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243 portTickType xDelayPeriod = mainNO_ERROR_FLASH_PERIOD;
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244 unsigned portLONG ulMemCheckTaskRunningCount;
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245 xTaskHandle xCreatedTask;
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247 /* The parameters are not used in this function. */
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248 ( void ) pvParameters;
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250 /* Cycle for ever, delaying then checking all the other tasks are still
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251 operating without error. If an error is detected then the delay period
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252 is decreased from mainNO_ERROR_FLASH_PERIOD to mainERROR_FLASH_PERIOD so
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253 the on board LED flash rate will increase.
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255 In addition to the standard tests the memory allocator is tested through
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256 the dynamic creation and deletion of a task each cycle. Each time the
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257 task is created memory must be allocated for its stack. When the task is
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258 deleted this memory is returned to the heap. If the task cannot be created
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259 then it is likely that the memory allocation failed. */
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263 /* Dynamically create a task - passing ulMemCheckTaskRunningCount as a
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265 ulMemCheckTaskRunningCount = mainCOUNT_INITIAL_VALUE;
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266 xCreatedTask = mainNO_TASK;
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268 if( xTaskCreate( vMemCheckTask, ( signed portCHAR * ) "MEM_CHECK", configMINIMAL_STACK_SIZE, ( void * ) &ulMemCheckTaskRunningCount, tskIDLE_PRIORITY, &xCreatedTask ) != pdPASS )
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270 /* Could not create the task - we have probably run out of heap. */
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271 xDelayPeriod = mainERROR_FLASH_PERIOD;
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274 /* Delay until it is time to execute again. */
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275 vTaskDelay( xDelayPeriod );
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277 /* Delete the dynamically created task. */
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278 if( xCreatedTask != mainNO_TASK )
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280 vTaskDelete( xCreatedTask );
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283 /* Check all the standard demo application tasks are executing without
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284 error. ulMemCheckTaskRunningCount is checked to ensure it was
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285 modified by the task just deleted. */
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286 if( prvCheckOtherTasksAreStillRunning( ulMemCheckTaskRunningCount ) != pdPASS )
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288 /* An error has been detected in one of the tasks - flash faster. */
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289 xDelayPeriod = mainERROR_FLASH_PERIOD;
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292 prvToggleOnBoardLED();
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295 /*-----------------------------------------------------------*/
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297 static void prvSetupHardware( void )
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299 #ifdef RUN_FROM_RAM
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300 /* Remap the interrupt vectors to RAM if we are are running from RAM. */
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304 /* Configure the RS2332 pins. All other pins remain at their default of 0. */
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305 PCB_PINSEL0 |= mainTX_ENABLE;
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306 PCB_PINSEL0 |= mainRX_ENABLE;
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308 /* Set all GPIO to output other than the P0.14 (BSL), and the JTAG pins.
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309 The JTAG pins are left as input as I'm not sure what will happen if the
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310 Wiggler is connected after powerup - not that it would be a good idea to
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312 GPIO_IODIR = ~( mainP0_14 + mainJTAG_PORT );
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314 /* Setup the PLL to multiply the XTAL input by 4. */
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315 SCB_PLLCFG = ( mainPLL_MUL_4 | mainPLL_DIV_1 );
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317 /* Activate the PLL by turning it on then feeding the correct sequence of
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319 SCB_PLLCON = mainPLL_ENABLE;
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320 SCB_PLLFEED = mainPLL_FEED_BYTE1;
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321 SCB_PLLFEED = mainPLL_FEED_BYTE2;
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323 /* Wait for the PLL to lock... */
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324 while( !( SCB_PLLSTAT & mainPLL_LOCK ) );
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326 /* ...before connecting it using the feed sequence again. */
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327 SCB_PLLCON = mainPLL_CONNECT;
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328 SCB_PLLFEED = mainPLL_FEED_BYTE1;
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329 SCB_PLLFEED = mainPLL_FEED_BYTE2;
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331 /* Setup and turn on the MAM. Three cycle access is used due to the fast
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332 PLL used. It is possible faster overall performance could be obtained by
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333 tuning the MAM and PLL settings. */
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334 MAM_TIM = mainMAM_TIM_3;
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335 MAM_CR = mainMAM_MODE_FULL;
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337 /* Setup the peripheral bus to be the same as the PLL output. */
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338 SCB_VPBDIV = mainBUS_CLK_FULL;
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340 /* Initialise LED outputs. */
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341 vParTestInitialise();
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343 /*-----------------------------------------------------------*/
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345 void prvToggleOnBoardLED( void )
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347 unsigned portLONG ulState;
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349 ulState = GPIO0_IOPIN;
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350 if( ulState & mainON_BOARD_LED_BIT )
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352 GPIO_IOCLR = mainON_BOARD_LED_BIT;
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356 GPIO_IOSET = mainON_BOARD_LED_BIT;
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359 /*-----------------------------------------------------------*/
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361 static portLONG prvCheckOtherTasksAreStillRunning( unsigned portLONG ulMemCheckTaskCount )
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363 portLONG lReturn = ( portLONG ) pdPASS;
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365 /* Check all the demo tasks (other than the flash tasks) to ensure
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366 that they are all still running, and that none of them have detected
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369 if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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371 lReturn = ( portLONG ) pdFAIL;
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374 if( xAreComTestTasksStillRunning() != pdTRUE )
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376 lReturn = ( portLONG ) pdFAIL;
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379 if( xArePollingQueuesStillRunning() != pdTRUE )
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381 lReturn = ( portLONG ) pdFAIL;
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384 if( xAreMathsTaskStillRunning() != pdTRUE )
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386 lReturn = ( portLONG ) pdFAIL;
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389 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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391 lReturn = ( portLONG ) pdFAIL;
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394 if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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396 lReturn = ( portLONG ) pdFAIL;
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399 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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401 lReturn = ( portLONG ) pdFAIL;
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404 if( ulMemCheckTaskCount == mainCOUNT_INITIAL_VALUE )
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406 /* The vMemCheckTask did not increment the counter - it must
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408 lReturn = ( portLONG ) pdFAIL;
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413 /*-----------------------------------------------------------*/
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415 static void vMemCheckTask( void *pvParameters )
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417 unsigned portLONG *pulMemCheckTaskRunningCounter;
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418 void *pvMem1, *pvMem2, *pvMem3;
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419 static portLONG lErrorOccurred = pdFALSE;
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421 /* This task is dynamically created then deleted during each cycle of the
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422 vErrorChecks task to check the operation of the memory allocator. Each time
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423 the task is created memory is allocated for the stack and TCB. Each time
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424 the task is deleted this memory is returned to the heap. This task itself
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425 exercises the allocator by allocating and freeing blocks.
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427 The task executes at the idle priority so does not require a delay.
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429 pulMemCheckTaskRunningCounter is incremented each cycle to indicate to the
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430 vErrorChecks() task that this task is still executing without error. */
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432 pulMemCheckTaskRunningCounter = ( unsigned portLONG * ) pvParameters;
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436 if( lErrorOccurred == pdFALSE )
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438 /* We have never seen an error so increment the counter. */
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439 ( *pulMemCheckTaskRunningCounter )++;
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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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