1 /*This file has been prepared for Doxygen automatic documentation generation.*/
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2 /*! \file *********************************************************************
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4 * \brief FreeRTOS Real Time Kernel example.
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6 * Creates all the demo application tasks, then starts the scheduler. The WEB
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7 * documentation provides more details of the demo application tasks.
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9 * Main. c also creates a task called "Check". This only executes every three
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10 * seconds but has the highest priority so is guaranteed to get processor time.
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11 * Its main function is to check that all the other tasks are still operational.
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12 * Each task that does not flash an LED maintains a unique count that is
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13 * incremented each time the task successfully completes its function. Should
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14 * any error occur within such a task the count is permanently halted. The
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15 * check task inspects the count of each task to ensure it has changed since
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16 * the last time the check task executed. If all the count variables have
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17 * changed all the tasks are still executing error free, and the check task
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18 * toggles an LED. Should any task contain an error at any time the LED toggle
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21 * The LED flash and communications test tasks do not maintain a count.
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23 * - Compiler: IAR EWAVR32 and GNU GCC for AVR32
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24 * - Supported devices: All AVR32 devices with GPIO.
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27 * \author Atmel Corporation: http://www.atmel.com \n
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28 * Support and FAQ: http://support.atmel.no/
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30 *****************************************************************************/
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33 FreeRTOS V7.0.0 - Copyright (C) 2011 Real Time Engineers Ltd.
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36 ***************************************************************************
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38 * FreeRTOS tutorial books are available in pdf and paperback. *
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39 * Complete, revised, and edited pdf reference manuals are also *
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42 * Purchasing FreeRTOS documentation will not only help you, by *
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43 * ensuring you get running as quickly as possible and with an *
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44 * in-depth knowledge of how to use FreeRTOS, it will also help *
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45 * the FreeRTOS project to continue with its mission of providing *
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46 * professional grade, cross platform, de facto standard solutions *
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47 * for microcontrollers - completely free of charge! *
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49 * >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
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51 * Thank you for using FreeRTOS, and thank you for your support! *
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53 ***************************************************************************
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56 This file is part of the FreeRTOS distribution.
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58 FreeRTOS is free software; you can redistribute it and/or modify it under
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59 the terms of the GNU General Public License (version 2) as published by the
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60 Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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61 >>>NOTE<<< The modification to the GPL is included to allow you to
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62 distribute a combined work that includes FreeRTOS without being obliged to
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63 provide the source code for proprietary components outside of the FreeRTOS
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64 kernel. FreeRTOS is distributed in the hope that it will be useful, but
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65 WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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66 or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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67 more details. You should have received a copy of the GNU General Public
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68 License and the FreeRTOS license exception along with FreeRTOS; if not it
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69 can be viewed here: http://www.freertos.org/a00114.html and also obtained
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70 by writing to Richard Barry, contact details for whom are available on the
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75 http://www.FreeRTOS.org - Documentation, latest information, license and
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78 http://www.SafeRTOS.com - A version that is certified for use in safety
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81 http://www.OpenRTOS.com - Commercial support, development, porting,
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82 licensing and training services.
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90 /* Environment header files. */
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93 /* Scheduler header files. */
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94 #include "FreeRTOS.h"
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97 /* Demo file headers. */
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98 #include "partest.h"
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100 #include "integer.h"
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101 #include "comtest.h"
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104 #include "semtest.h"
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105 #include "dynamic.h"
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106 #include "BlockQ.h"
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110 /*! \name Priority definitions for most of the tasks in the demo application.
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111 * Some tasks just use the idle priority.
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114 #define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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115 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
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116 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
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117 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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118 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 3 )
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119 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 4 )
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120 #define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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123 //! Baud rate used by the serial port tasks.
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124 #define mainCOM_TEST_BAUD_RATE ( ( unsigned portLONG ) 57600 )
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126 //! LED used by the serial port tasks. This is toggled on each character Tx,
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127 //! and mainCOM_TEST_LED + 1 is toggled on each character Rx.
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128 #define mainCOM_TEST_LED ( 3 )
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130 //! LED that is toggled by the check task. The check task periodically checks
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131 //! that all the other tasks are operating without error. If no errors are found
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132 //! the LED is toggled. If an error is found at any time the LED toggles faster.
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133 #define mainCHECK_TASK_LED ( 6 )
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135 //! LED that is set upon error.
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136 #define mainERROR_LED ( 7 )
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138 //! The period between executions of the check task.
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139 #define mainCHECK_PERIOD ( ( portTickType ) 3000 / portTICK_RATE_MS )
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141 //! If an error is detected in a task, the vErrorChecks task will enter in an
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142 //! infinite loop flashing the LED at this rate.
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143 #define mainERROR_FLASH_RATE ( (portTickType) 500 / portTICK_RATE_MS )
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145 /*! \name Constants used by the vMemCheckTask() task.
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148 #define mainCOUNT_INITIAL_VALUE ( ( unsigned portLONG ) 0 )
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149 #define mainNO_TASK ( 0 )
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152 /*! \name The size of the memory blocks allocated by the vMemCheckTask() task.
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155 #define mainMEM_CHECK_SIZE_1 ( ( size_t ) 51 )
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156 #define mainMEM_CHECK_SIZE_2 ( ( size_t ) 52 )
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157 #define mainMEM_CHECK_SIZE_3 ( ( size_t ) 15 )
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161 /*-----------------------------------------------------------*/
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164 * The task that executes at the highest priority and calls
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165 * prvCheckOtherTasksAreStillRunning(). See the description at the top
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168 static void vErrorChecks( void *pvParameters );
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171 * Checks that all the demo application tasks are still executing without error
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172 * - as described at the top of the file.
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174 static portBASE_TYPE prvCheckOtherTasksAreStillRunning( void );
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177 * A task that exercises the memory allocator.
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179 static void vMemCheckTask( void *pvParameters );
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182 * Called by the check task following the detection of an error to set the
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183 * LEDs into a state that shows an error has beeen found.
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185 static void prvIndicateError( void );
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187 /*-----------------------------------------------------------*/
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191 /* Start the crystal oscillator 0 and switch the main clock to it. */
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192 pm_switch_to_osc0(&AVR32_PM, FOSC0, OSC0_STARTUP);
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194 portDBG_TRACE("Starting the FreeRTOS AVR32 UC3 Demo...");
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196 /* Setup the LED's for output. */
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197 vParTestInitialise();
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199 /* Start the standard demo tasks. See the WEB documentation for more
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201 vStartLEDFlashTasks( mainLED_TASK_PRIORITY );
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202 vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
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203 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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204 vStartIntegerMathTasks( tskIDLE_PRIORITY );
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205 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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206 vStartDynamicPriorityTasks();
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207 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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208 vStartMathTasks( tskIDLE_PRIORITY );
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210 /* Start the demo tasks defined within this file, specifically the check
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211 task as described at the top of this file. */
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214 , (const signed portCHAR *)"ErrCheck"
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215 , configMINIMAL_STACK_SIZE
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217 , mainCHECK_TASK_PRIORITY
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220 /* Start the scheduler. */
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221 vTaskStartScheduler();
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223 /* Will only get here if there was insufficient memory to create the idle
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228 /*-----------------------------------------------------------*/
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231 * \brief The task function for the "Check" task.
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233 static void vErrorChecks( void *pvParameters )
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235 static volatile unsigned portLONG ulDummyVariable = 3UL;
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236 unsigned portLONG ulMemCheckTaskRunningCount;
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237 xTaskHandle xCreatedTask;
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238 portBASE_TYPE bSuicidalTask = 0;
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240 /* The parameters are not used. Prevent compiler warnings. */
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241 ( void ) pvParameters;
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243 /* Cycle for ever, delaying then checking all the other tasks are still
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244 operating without error.
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246 In addition to the standard tests the memory allocator is tested through
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247 the dynamic creation and deletion of a task each cycle. Each time the
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248 task is created memory must be allocated for its stack. When the task is
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249 deleted this memory is returned to the heap. If the task cannot be created
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250 then it is likely that the memory allocation failed. */
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254 /* Do this only once. */
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255 if( bSuicidalTask == 0 )
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259 /* This task has to be created last as it keeps account of the number of
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260 tasks it expects to see running. However its implementation expects
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261 to be called before vTaskStartScheduler(). We're in the case here where
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262 vTaskStartScheduler() has already been called (thus the hidden IDLE task
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263 has already been spawned). Since vCreateSuicidalTask() supposes that the
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264 IDLE task isn't included in the response from uxTaskGetNumberOfTasks(),
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265 let the MEM_CHECK task play that role. => this is why vCreateSuicidalTasks()
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266 is not called as the last task. */
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267 vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
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270 /* Reset xCreatedTask. This is modified by the task about to be
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271 created so we can tell if it is executing correctly or not. */
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272 xCreatedTask = mainNO_TASK;
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274 /* Dynamically create a task - passing ulMemCheckTaskRunningCount as a
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276 ulMemCheckTaskRunningCount = mainCOUNT_INITIAL_VALUE;
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278 if( xTaskCreate( vMemCheckTask,
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279 ( signed portCHAR * ) "MEM_CHECK",
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280 configMINIMAL_STACK_SIZE,
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281 ( void * ) &ulMemCheckTaskRunningCount,
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282 tskIDLE_PRIORITY, &xCreatedTask ) != pdPASS )
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284 /* Could not create the task - we have probably run out of heap.
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285 Don't go any further and flash the LED faster to provide visual
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286 feedback of the error. */
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287 prvIndicateError();
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290 /* Delay until it is time to execute again. */
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291 vTaskDelay( mainCHECK_PERIOD );
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293 /* Delete the dynamically created task. */
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294 if( xCreatedTask != mainNO_TASK )
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296 vTaskDelete( xCreatedTask );
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299 /* Perform a bit of 32bit maths to ensure the registers used by the
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300 integer tasks get some exercise. The result here is not important -
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301 see the demo application documentation for more info. */
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302 ulDummyVariable *= 3;
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304 /* Check all other tasks are still operating without error.
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305 Check that vMemCheckTask did increment the counter. */
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306 if( ( prvCheckOtherTasksAreStillRunning() != pdFALSE )
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307 || ( ulMemCheckTaskRunningCount == mainCOUNT_INITIAL_VALUE ) )
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309 /* An error has occurred in one of the tasks.
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310 Don't go any further and flash the LED faster to give visual
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311 feedback of the error. */
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312 prvIndicateError();
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316 /* Toggle the LED if everything is okay. */
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317 vParTestToggleLED( mainCHECK_TASK_LED );
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321 /*-----------------------------------------------------------*/
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325 * \brief Checks that all the demo application tasks are still executing without error.
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327 static portBASE_TYPE prvCheckOtherTasksAreStillRunning( void )
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329 static portBASE_TYPE xErrorHasOccurred = pdFALSE;
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331 if( xAreComTestTasksStillRunning() != pdTRUE )
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333 xErrorHasOccurred = pdTRUE;
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336 if( xArePollingQueuesStillRunning() != pdTRUE )
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338 xErrorHasOccurred = pdTRUE;
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341 if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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343 xErrorHasOccurred = pdTRUE;
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346 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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348 xErrorHasOccurred = pdTRUE;
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351 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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353 xErrorHasOccurred = pdTRUE;
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356 if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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358 xErrorHasOccurred = pdTRUE;
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361 if( xAreMathsTaskStillRunning() != pdTRUE )
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363 xErrorHasOccurred = pdTRUE;
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366 if( xIsCreateTaskStillRunning() != pdTRUE )
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368 xErrorHasOccurred = pdTRUE;
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371 return ( xErrorHasOccurred );
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373 /*-----------------------------------------------------------*/
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377 * \brief Dynamically created and deleted during each cycle of the vErrorChecks()
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378 * task. This is done to check the operation of the memory allocator.
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379 * See the top of vErrorChecks for more details.
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381 * \param *pvParameters Parameters for the task (can be of any kind)
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383 static void vMemCheckTask( void *pvParameters )
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385 unsigned portLONG *pulMemCheckTaskRunningCounter;
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386 void *pvMem1, *pvMem2, *pvMem3;
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387 static portLONG lErrorOccurred = pdFALSE;
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389 /* This task is dynamically created then deleted during each cycle of the
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390 vErrorChecks task to check the operation of the memory allocator. Each time
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391 the task is created memory is allocated for the stack and TCB. Each time
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392 the task is deleted this memory is returned to the heap. This task itself
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393 exercises the allocator by allocating and freeing blocks.
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395 The task executes at the idle priority so does not require a delay.
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397 pulMemCheckTaskRunningCounter is incremented each cycle to indicate to the
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398 vErrorChecks() task that this task is still executing without error. */
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400 pulMemCheckTaskRunningCounter = ( unsigned portLONG * ) pvParameters;
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404 if( lErrorOccurred == pdFALSE )
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406 /* We have never seen an error so increment the counter. */
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407 ( *pulMemCheckTaskRunningCounter )++;
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411 /* There has been an error so reset the counter so the check task
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412 can tell that an error occurred. */
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413 *pulMemCheckTaskRunningCounter = mainCOUNT_INITIAL_VALUE;
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416 /* Allocate some memory - just to give the allocator some extra
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417 exercise. This has to be in a critical section to ensure the
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418 task does not get deleted while it has memory allocated. */
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422 pvMem1 = pvPortMalloc( mainMEM_CHECK_SIZE_1 );
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424 if( pvMem1 == NULL )
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426 lErrorOccurred = pdTRUE;
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430 memset( pvMem1, 0xaa, mainMEM_CHECK_SIZE_1 );
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431 vPortFree( pvMem1 );
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436 /* Again - with a different size block. */
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439 pvMem2 = pvPortMalloc( mainMEM_CHECK_SIZE_2 );
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441 if( pvMem2 == NULL )
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443 lErrorOccurred = pdTRUE;
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447 memset( pvMem2, 0xaa, mainMEM_CHECK_SIZE_2 );
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448 vPortFree( pvMem2 );
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453 /* Again - with a different size block. */
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456 pvMem3 = pvPortMalloc( mainMEM_CHECK_SIZE_3 );
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457 if( pvMem3 == NULL )
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459 lErrorOccurred = pdTRUE;
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463 memset( pvMem3, 0xaa, mainMEM_CHECK_SIZE_3 );
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464 vPortFree( pvMem3 );
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470 /*-----------------------------------------------------------*/
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472 static void prvIndicateError( void )
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474 /* The check task has found an error in one of the other tasks.
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475 Set the LEDs to a state that indicates this. */
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476 vParTestSetLED(mainERROR_LED,pdTRUE);
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480 #if( BOARD==EVK1100 )
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481 vParTestToggleLED( mainCHECK_TASK_LED );
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482 vTaskDelay( mainERROR_FLASH_RATE );
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484 #if ( BOARD==EVK1101 )
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485 vParTestSetLED( 0, pdTRUE );
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486 vParTestSetLED( 1, pdTRUE );
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487 vParTestSetLED( 2, pdTRUE );
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488 vParTestSetLED( 3, pdTRUE );
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