2 FreeRTOS V6.0.5 - Copyright (C) 2010 Real Time Engineers Ltd.
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4 ***************************************************************************
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8 * + New to FreeRTOS, *
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9 * + Wanting to learn FreeRTOS or multitasking in general quickly *
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10 * + Looking for basic training, *
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11 * + Wanting to improve your FreeRTOS skills and productivity *
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13 * then take a look at the FreeRTOS eBook *
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15 * "Using the FreeRTOS Real Time Kernel - a Practical Guide" *
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16 * http://www.FreeRTOS.org/Documentation *
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18 * A pdf reference manual is also available. Both are usually delivered *
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19 * to your inbox within 20 minutes to two hours when purchased between 8am *
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20 * and 8pm GMT (although please allow up to 24 hours in case of *
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21 * exceptional circumstances). Thank you for your support! *
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23 ***************************************************************************
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25 This file is part of the FreeRTOS distribution.
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27 FreeRTOS is free software; you can redistribute it and/or modify it under
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28 the terms of the GNU General Public License (version 2) as published by the
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29 Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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30 ***NOTE*** The exception to the GPL is included to allow you to distribute
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31 a combined work that includes FreeRTOS without being obliged to provide the
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32 source code for proprietary components outside of the FreeRTOS kernel.
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33 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT
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34 ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
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35 FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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36 more details. You should have received a copy of the GNU General Public
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37 License and the FreeRTOS license exception along with FreeRTOS; if not it
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38 can be viewed here: http://www.freertos.org/a00114.html and also obtained
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39 by writing to Richard Barry, contact details for whom are available on the
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44 http://www.FreeRTOS.org - Documentation, latest information, license and
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47 http://www.SafeRTOS.com - A version that is certified for use in safety
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50 http://www.OpenRTOS.com - Commercial support, development, porting,
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51 licensing and training services.
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55 NOTE : Tasks run in system mode and the scheduler runs in Supervisor mode.
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56 The processor MUST be in supervisor mode when vTaskStartScheduler is
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57 called. The demo applications included in the FreeRTOS.org download switch
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58 to supervisor mode prior to main being called. If you are not using one of
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59 these demo application projects then ensure Supervisor mode is used.
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64 * Creates all the demo application tasks, then starts the scheduler. The WEB
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65 * documentation provides more details of the demo application tasks.
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67 * Main.c also creates a task called "Check". This only executes every three
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68 * seconds but has the highest priority so is guaranteed to get processor time.
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69 * Its main function is to check that all the other tasks are still operational.
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70 * Each task (other than the "flash" tasks) maintains a unique count that is
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71 * incremented each time the task successfully completes its function. Should
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72 * any error occur within such a task the count is permanently halted. The
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73 * check task inspects the count of each task to ensure it has changed since
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74 * the last time the check task executed. If all the count variables have
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75 * changed all the tasks are still executing error free, and the check task
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76 * toggles the onboard LED. Should any task contain an error at any time
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77 * the LED toggle rate will change from 3 seconds to 500ms.
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79 * To check the operation of the memory allocator the check task also
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80 * dynamically creates a task before delaying, and deletes it again when it
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81 * wakes. If memory cannot be allocated for the new task the call to xTaskCreate
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82 * will fail and an error is signalled. The dynamically created task itself
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83 * allocates and frees memory just to give the allocator a bit more exercise.
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90 + The vErrorChecks() task now dynamically creates then deletes a task each
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91 cycle. This tests the operation of the memory allocator.
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95 + vParTestInitialise() is called during initialisation to ensure all the
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100 /* Standard includes. */
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101 #include <stdlib.h>
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102 #include <string.h>
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104 /* Scheduler includes. */
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105 #include "FreeRTOS.h"
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108 /* Demo application includes. */
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109 #include "partest.h"
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111 #include "integer.h"
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113 #include "comtest2.h"
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114 #include "semtest.h"
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116 #include "dynamic.h"
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117 #include "BlockQ.h"
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118 #include "serial.h"
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120 /*-----------------------------------------------------------*/
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122 /* Constants to setup I/O. */
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123 #define mainTX_ENABLE ( ( unsigned long ) 0x0001 )
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124 #define mainRX_ENABLE ( ( unsigned long ) 0x0004 )
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125 #define mainP0_14 ( ( unsigned long ) 0x4000 )
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126 #define mainJTAG_PORT ( ( unsigned long ) 0x3E0000UL )
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128 /* Constants to setup the PLL. */
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129 #define mainPLL_MUL_4 ( ( unsigned char ) 0x0003 )
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130 #define mainPLL_DIV_1 ( ( unsigned char ) 0x0000 )
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131 #define mainPLL_ENABLE ( ( unsigned char ) 0x0001 )
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132 #define mainPLL_CONNECT ( ( unsigned char ) 0x0003 )
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133 #define mainPLL_FEED_BYTE1 ( ( unsigned char ) 0xaa )
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134 #define mainPLL_FEED_BYTE2 ( ( unsigned char ) 0x55 )
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135 #define mainPLL_LOCK ( ( unsigned long ) 0x0400 )
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137 /* Constants to setup the MAM. */
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138 #define mainMAM_TIM_3 ( ( unsigned char ) 0x03 )
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139 #define mainMAM_MODE_FULL ( ( unsigned char ) 0x02 )
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141 /* Constants to setup the peripheral bus. */
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142 #define mainBUS_CLK_FULL ( ( unsigned char ) 0x01 )
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144 /* Constants for the ComTest tasks. */
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145 #define mainCOM_TEST_BAUD_RATE ( ( unsigned long ) 115200 )
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146 #define mainCOM_TEST_LED ( 3 )
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148 /* Priorities for the demo application tasks. */
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149 #define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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150 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
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151 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 0 )
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152 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 4 )
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153 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 0 )
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154 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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156 /* The rate at which the on board LED will toggle when there is/is not an
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158 #define mainNO_ERROR_FLASH_PERIOD ( ( portTickType ) 3000 / portTICK_RATE_MS )
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159 #define mainERROR_FLASH_PERIOD ( ( portTickType ) 500 / portTICK_RATE_MS )
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160 #define mainON_BOARD_LED_BIT ( ( unsigned long ) 0x80 )
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162 /* Constants used by the vMemCheckTask() task. */
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163 #define mainCOUNT_INITIAL_VALUE ( ( unsigned long ) 0 )
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164 #define mainNO_TASK ( 0 )
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166 /* The size of the memory blocks allocated by the vMemCheckTask() task. */
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167 #define mainMEM_CHECK_SIZE_1 ( ( size_t ) 51 )
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168 #define mainMEM_CHECK_SIZE_2 ( ( size_t ) 52 )
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169 #define mainMEM_CHECK_SIZE_3 ( ( size_t ) 151 )
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171 /*-----------------------------------------------------------*/
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174 * The Olimex demo board has a single built in LED. This function simply
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175 * toggles its state.
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177 void prvToggleOnBoardLED( void );
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180 * Checks that all the demo application tasks are still executing without error
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181 * - as described at the top of the file.
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183 static long prvCheckOtherTasksAreStillRunning( unsigned long ulMemCheckTaskCount );
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186 * The task that executes at the highest priority and calls
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187 * prvCheckOtherTasksAreStillRunning(). See the description at the top
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190 static void vErrorChecks( void *pvParameters );
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193 * Dynamically created and deleted during each cycle of the vErrorChecks()
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194 * task. This is done to check the operation of the memory allocator.
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195 * See the top of vErrorChecks for more details.
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197 static void vMemCheckTask( void *pvParameters );
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200 * Configure the processor for use with the Olimex demo board. This includes
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201 * setup for the I/O, system clock, and access timings.
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203 static void prvSetupHardware( void );
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205 /*-----------------------------------------------------------*/
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208 * Starts all the other tasks, then starts the scheduler.
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212 /* Setup the hardware for use with the Olimex demo board. */
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213 prvSetupHardware();
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215 /* Start the demo/test application tasks. */
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216 vStartIntegerMathTasks( tskIDLE_PRIORITY );
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217 vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
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218 vStartLEDFlashTasks( mainLED_TASK_PRIORITY );
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219 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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220 vStartMathTasks( tskIDLE_PRIORITY );
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221 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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222 vStartDynamicPriorityTasks();
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223 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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225 /* Start the check task - which is defined in this file. */
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226 xTaskCreate( vErrorChecks, ( signed char * ) "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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228 /* Now all the tasks have been started - start the scheduler.
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230 NOTE : Tasks run in system mode and the scheduler runs in Supervisor mode.
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231 The processor MUST be in supervisor mode when vTaskStartScheduler is
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232 called. The demo applications included in the FreeRTOS.org download switch
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233 to supervisor mode prior to main being called. If you are not using one of
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234 these demo application projects then ensure Supervisor mode is used here. */
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235 vTaskStartScheduler();
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237 /* Should never reach here! */
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240 /*-----------------------------------------------------------*/
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242 static void vErrorChecks( void *pvParameters )
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244 portTickType xDelayPeriod = mainNO_ERROR_FLASH_PERIOD;
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245 unsigned long ulMemCheckTaskRunningCount;
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246 xTaskHandle xCreatedTask;
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248 /* The parameters are not used in this function. */
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249 ( void ) pvParameters;
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251 /* Cycle for ever, delaying then checking all the other tasks are still
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252 operating without error. If an error is detected then the delay period
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253 is decreased from mainNO_ERROR_FLASH_PERIOD to mainERROR_FLASH_PERIOD so
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254 the on board LED flash rate will increase.
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256 In addition to the standard tests the memory allocator is tested through
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257 the dynamic creation and deletion of a task each cycle. Each time the
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258 task is created memory must be allocated for its stack. When the task is
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259 deleted this memory is returned to the heap. If the task cannot be created
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260 then it is likely that the memory allocation failed. */
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264 /* Dynamically create a task - passing ulMemCheckTaskRunningCount as a
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266 ulMemCheckTaskRunningCount = mainCOUNT_INITIAL_VALUE;
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267 xCreatedTask = mainNO_TASK;
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269 if( xTaskCreate( vMemCheckTask, ( signed char * ) "MEM_CHECK", configMINIMAL_STACK_SIZE, ( void * ) &ulMemCheckTaskRunningCount, tskIDLE_PRIORITY, &xCreatedTask ) != pdPASS )
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271 /* Could not create the task - we have probably run out of heap. */
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272 xDelayPeriod = mainERROR_FLASH_PERIOD;
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275 /* Delay until it is time to execute again. */
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276 vTaskDelay( xDelayPeriod );
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278 /* Delete the dynamically created task. */
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279 if( xCreatedTask != mainNO_TASK )
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281 vTaskDelete( xCreatedTask );
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284 /* Check all the standard demo application tasks are executing without
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285 error. ulMemCheckTaskRunningCount is checked to ensure it was
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286 modified by the task just deleted. */
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287 if( prvCheckOtherTasksAreStillRunning( ulMemCheckTaskRunningCount ) != pdPASS )
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289 /* An error has been detected in one of the tasks - flash faster. */
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290 xDelayPeriod = mainERROR_FLASH_PERIOD;
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293 prvToggleOnBoardLED();
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296 /*-----------------------------------------------------------*/
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298 static void prvSetupHardware( void )
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300 #ifdef RUN_FROM_RAM
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301 /* Remap the interrupt vectors to RAM if we are are running from RAM. */
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305 /* Configure the RS2332 pins. All other pins remain at their default of 0. */
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306 PCB_PINSEL0 |= mainTX_ENABLE;
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307 PCB_PINSEL0 |= mainRX_ENABLE;
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309 /* Set all GPIO to output other than the P0.14 (BSL), and the JTAG pins.
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310 The JTAG pins are left as input as I'm not sure what will happen if the
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311 Wiggler is connected after powerup - not that it would be a good idea to
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313 GPIO_IODIR = ~( mainP0_14 + mainJTAG_PORT );
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315 /* Setup the PLL to multiply the XTAL input by 4. */
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316 SCB_PLLCFG = ( mainPLL_MUL_4 | mainPLL_DIV_1 );
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318 /* Activate the PLL by turning it on then feeding the correct sequence of
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320 SCB_PLLCON = mainPLL_ENABLE;
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321 SCB_PLLFEED = mainPLL_FEED_BYTE1;
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322 SCB_PLLFEED = mainPLL_FEED_BYTE2;
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324 /* Wait for the PLL to lock... */
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325 while( !( SCB_PLLSTAT & mainPLL_LOCK ) );
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327 /* ...before connecting it using the feed sequence again. */
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328 SCB_PLLCON = mainPLL_CONNECT;
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329 SCB_PLLFEED = mainPLL_FEED_BYTE1;
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330 SCB_PLLFEED = mainPLL_FEED_BYTE2;
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332 /* Setup and turn on the MAM. Three cycle access is used due to the fast
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333 PLL used. It is possible faster overall performance could be obtained by
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334 tuning the MAM and PLL settings. */
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335 MAM_TIM = mainMAM_TIM_3;
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336 MAM_CR = mainMAM_MODE_FULL;
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338 /* Setup the peripheral bus to be the same as the PLL output. */
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339 SCB_VPBDIV = mainBUS_CLK_FULL;
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341 /* Initialise LED outputs. */
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342 vParTestInitialise();
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344 /*-----------------------------------------------------------*/
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346 void prvToggleOnBoardLED( void )
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348 unsigned long ulState;
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350 ulState = GPIO0_IOPIN;
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351 if( ulState & mainON_BOARD_LED_BIT )
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353 GPIO_IOCLR = mainON_BOARD_LED_BIT;
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357 GPIO_IOSET = mainON_BOARD_LED_BIT;
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360 /*-----------------------------------------------------------*/
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362 static long prvCheckOtherTasksAreStillRunning( unsigned long ulMemCheckTaskCount )
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364 long lReturn = ( long ) pdPASS;
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366 /* Check all the demo tasks (other than the flash tasks) to ensure
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367 that they are all still running, and that none of them have detected
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370 if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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372 lReturn = ( long ) pdFAIL;
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375 if( xAreComTestTasksStillRunning() != pdTRUE )
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377 lReturn = ( long ) pdFAIL;
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380 if( xArePollingQueuesStillRunning() != pdTRUE )
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382 lReturn = ( long ) pdFAIL;
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385 if( xAreMathsTaskStillRunning() != pdTRUE )
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387 lReturn = ( long ) pdFAIL;
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390 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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392 lReturn = ( long ) pdFAIL;
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395 if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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397 lReturn = ( long ) pdFAIL;
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400 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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402 lReturn = ( long ) pdFAIL;
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405 if( ulMemCheckTaskCount == mainCOUNT_INITIAL_VALUE )
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407 /* The vMemCheckTask did not increment the counter - it must
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409 lReturn = ( long ) pdFAIL;
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414 /*-----------------------------------------------------------*/
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416 static void vMemCheckTask( void *pvParameters )
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418 unsigned long *pulMemCheckTaskRunningCounter;
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419 void *pvMem1, *pvMem2, *pvMem3;
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420 static long lErrorOccurred = pdFALSE;
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422 /* This task is dynamically created then deleted during each cycle of the
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423 vErrorChecks task to check the operation of the memory allocator. Each time
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424 the task is created memory is allocated for the stack and TCB. Each time
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425 the task is deleted this memory is returned to the heap. This task itself
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426 exercises the allocator by allocating and freeing blocks.
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428 The task executes at the idle priority so does not require a delay.
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430 pulMemCheckTaskRunningCounter is incremented each cycle to indicate to the
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431 vErrorChecks() task that this task is still executing without error. */
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433 pulMemCheckTaskRunningCounter = ( unsigned long * ) pvParameters;
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437 if( lErrorOccurred == pdFALSE )
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439 /* We have never seen an error so increment the counter. */
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440 ( *pulMemCheckTaskRunningCounter )++;
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443 /* Allocate some memory - just to give the allocator some extra
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444 exercise. This has to be in a critical section to ensure the
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445 task does not get deleted while it has memory allocated. */
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448 pvMem1 = pvPortMalloc( mainMEM_CHECK_SIZE_1 );
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449 if( pvMem1 == NULL )
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451 lErrorOccurred = pdTRUE;
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455 memset( pvMem1, 0xaa, mainMEM_CHECK_SIZE_1 );
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456 vPortFree( pvMem1 );
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461 /* Again - with a different size block. */
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464 pvMem2 = pvPortMalloc( mainMEM_CHECK_SIZE_2 );
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465 if( pvMem2 == NULL )
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467 lErrorOccurred = pdTRUE;
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471 memset( pvMem2, 0xaa, mainMEM_CHECK_SIZE_2 );
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472 vPortFree( pvMem2 );
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477 /* Again - with a different size block. */
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480 pvMem3 = pvPortMalloc( mainMEM_CHECK_SIZE_3 );
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481 if( pvMem3 == NULL )
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483 lErrorOccurred = pdTRUE;
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487 memset( pvMem3, 0xaa, mainMEM_CHECK_SIZE_3 );
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488 vPortFree( pvMem3 );
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