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.org V4.6.1 - Copyright (C) 2003-2007 Richard Barry.
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35 This file is part of the FreeRTOS.org distribution.
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37 FreeRTOS.org is free software; you can redistribute it and/or modify
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38 it under the terms of the GNU General Public License as published by
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39 the Free Software Foundation; either version 2 of the License, or
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40 (at your option) any later version.
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42 FreeRTOS.org is distributed in the hope that it will be useful,
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43 but WITHOUT ANY WARRANTY; without even the implied warranty of
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44 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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45 GNU General Public License for more details.
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47 You should have received a copy of the GNU General Public License
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48 along with FreeRTOS.org; if not, write to the Free Software
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49 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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51 A special exception to the GPL can be applied should you wish to distribute
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52 a combined work that includes FreeRTOS.org, without being obliged to provide
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53 the source code for any proprietary components. See the licensing section
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54 of http://www.FreeRTOS.org for full details of how and when the exception
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57 ***************************************************************************
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58 See http://www.FreeRTOS.org for documentation, latest information, license
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59 and contact details. Please ensure to read the configuration and relevant
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60 port sections of the online documentation.
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62 Also see http://www.SafeRTOS.com a version that has been certified for use
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63 in safety critical systems, plus commercial licensing, development and
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65 ***************************************************************************
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73 /* Environment header files. */
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76 /* Scheduler header files. */
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77 #include "FreeRTOS.h"
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80 /* Demo file headers. */
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81 #include "partest.h"
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83 #include "integer.h"
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84 #include "comtest.h"
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87 #include "semtest.h"
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88 #include "dynamic.h"
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93 /*! \name Priority definitions for most of the tasks in the demo application.
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94 * Some tasks just use the idle priority.
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97 #define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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98 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
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99 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
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100 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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101 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 3 )
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102 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 4 )
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103 #define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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106 //! Baud rate used by the serial port tasks.
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107 #define mainCOM_TEST_BAUD_RATE ( ( unsigned portLONG ) 57600 )
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109 //! LED used by the serial port tasks. This is toggled on each character Tx,
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110 //! and mainCOM_TEST_LED + 1 is toggled on each character Rx.
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111 #define mainCOM_TEST_LED ( 3 )
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113 //! LED that is toggled by the check task. The check task periodically checks
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114 //! that all the other tasks are operating without error. If no errors are found
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115 //! the LED is toggled. If an error is found at any time the LED toggles faster.
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116 #define mainCHECK_TASK_LED ( 6 )
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118 //! LED that is set upon error.
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119 #define mainERROR_LED ( 7 )
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121 //! The period between executions of the check task.
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122 #define mainCHECK_PERIOD ( ( portTickType ) 3000 / portTICK_RATE_MS )
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124 //! If an error is detected in a task, the vErrorChecks task will enter in an
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125 //! infinite loop flashing the LED at this rate.
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126 #define mainERROR_FLASH_RATE ( (portTickType) 500 / portTICK_RATE_MS )
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128 /*! \name Constants used by the vMemCheckTask() task.
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131 #define mainCOUNT_INITIAL_VALUE ( ( unsigned portLONG ) 0 )
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132 #define mainNO_TASK ( 0 )
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135 /*! \name The size of the memory blocks allocated by the vMemCheckTask() task.
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138 #define mainMEM_CHECK_SIZE_1 ( ( size_t ) 51 )
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139 #define mainMEM_CHECK_SIZE_2 ( ( size_t ) 52 )
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140 #define mainMEM_CHECK_SIZE_3 ( ( size_t ) 15 )
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144 /*-----------------------------------------------------------*/
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147 * The task that executes at the highest priority and calls
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148 * prvCheckOtherTasksAreStillRunning(). See the description at the top
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151 static void vErrorChecks( void *pvParameters );
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154 * Checks that all the demo application tasks are still executing without error
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155 * - as described at the top of the file.
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157 static portBASE_TYPE prvCheckOtherTasksAreStillRunning( void );
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160 * A task that exercises the memory allocator.
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162 static void vMemCheckTask( void *pvParameters );
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165 * Called by the check task following the detection of an error to set the
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166 * LEDs into a state that shows an error has beeen found.
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168 static void prvIndicateError( void );
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170 /*-----------------------------------------------------------*/
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174 /* Start the crystal oscillator 0 and switch the main clock to it. */
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175 pm_switch_to_osc0(&AVR32_PM, FOSC0, OSC0_STARTUP);
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177 portDBG_TRACE("Starting the FreeRTOS AVR32 UC3 Demo...");
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179 /* Setup the LED's for output. */
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180 vParTestInitialise();
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182 /* Start the standard demo tasks. See the WEB documentation for more
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184 vStartLEDFlashTasks( mainLED_TASK_PRIORITY );
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185 vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
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186 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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187 vStartIntegerMathTasks( tskIDLE_PRIORITY );
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188 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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189 vStartDynamicPriorityTasks();
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190 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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191 vStartMathTasks( tskIDLE_PRIORITY );
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193 /* Start the demo tasks defined within this file, specifically the check
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194 task as described at the top of this file. */
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197 , (const signed portCHAR *)"ErrCheck"
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198 , configMINIMAL_STACK_SIZE
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200 , mainCHECK_TASK_PRIORITY
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203 /* Start the scheduler. */
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204 vTaskStartScheduler();
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206 /* Will only get here if there was insufficient memory to create the idle
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211 /*-----------------------------------------------------------*/
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214 * \brief The task function for the "Check" task.
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216 static void vErrorChecks( void *pvParameters )
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218 static volatile unsigned portLONG ulDummyVariable = 3UL;
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219 unsigned portLONG ulMemCheckTaskRunningCount;
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220 xTaskHandle xCreatedTask;
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221 portBASE_TYPE bSuicidalTask = 0;
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223 /* The parameters are not used. Prevent compiler warnings. */
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224 ( void ) pvParameters;
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226 /* Cycle for ever, delaying then checking all the other tasks are still
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227 operating without error.
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229 In addition to the standard tests the memory allocator is tested through
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230 the dynamic creation and deletion of a task each cycle. Each time the
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231 task is created memory must be allocated for its stack. When the task is
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232 deleted this memory is returned to the heap. If the task cannot be created
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233 then it is likely that the memory allocation failed. */
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237 /* Do this only once. */
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238 if( bSuicidalTask == 0 )
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242 /* This task has to be created last as it keeps account of the number of
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243 tasks it expects to see running. However its implementation expects
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244 to be called before vTaskStartScheduler(). We're in the case here where
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245 vTaskStartScheduler() has already been called (thus the hidden IDLE task
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246 has already been spawned). Since vCreateSuicidalTask() supposes that the
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247 IDLE task isn't included in the response from uxTaskGetNumberOfTasks(),
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248 let the MEM_CHECK task play that role. => this is why vCreateSuicidalTasks()
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249 is not called as the last task. */
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250 vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
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253 /* Reset xCreatedTask. This is modified by the task about to be
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254 created so we can tell if it is executing correctly or not. */
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255 xCreatedTask = mainNO_TASK;
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257 /* Dynamically create a task - passing ulMemCheckTaskRunningCount as a
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259 ulMemCheckTaskRunningCount = mainCOUNT_INITIAL_VALUE;
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261 if( xTaskCreate( vMemCheckTask,
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262 ( signed portCHAR * ) "MEM_CHECK",
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263 configMINIMAL_STACK_SIZE,
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264 ( void * ) &ulMemCheckTaskRunningCount,
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265 tskIDLE_PRIORITY, &xCreatedTask ) != pdPASS )
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267 /* Could not create the task - we have probably run out of heap.
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268 Don't go any further and flash the LED faster to provide visual
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269 feedback of the error. */
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270 prvIndicateError();
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273 /* Delay until it is time to execute again. */
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274 vTaskDelay( mainCHECK_PERIOD );
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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 /* Perform a bit of 32bit maths to ensure the registers used by the
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283 integer tasks get some exercise. The result here is not important -
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284 see the demo application documentation for more info. */
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285 ulDummyVariable *= 3;
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287 /* Check all other tasks are still operating without error.
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288 Check that vMemCheckTask did increment the counter. */
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289 if( ( prvCheckOtherTasksAreStillRunning() != pdFALSE )
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290 || ( ulMemCheckTaskRunningCount == mainCOUNT_INITIAL_VALUE ) )
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292 /* An error has occurred in one of the tasks.
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293 Don't go any further and flash the LED faster to give visual
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294 feedback of the error. */
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295 prvIndicateError();
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299 /* Toggle the LED if everything is okay. */
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300 vParTestToggleLED( mainCHECK_TASK_LED );
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304 /*-----------------------------------------------------------*/
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308 * \brief Checks that all the demo application tasks are still executing without error.
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310 static portBASE_TYPE prvCheckOtherTasksAreStillRunning( void )
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312 static portBASE_TYPE xErrorHasOccurred = pdFALSE;
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314 if( xAreComTestTasksStillRunning() != pdTRUE )
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316 xErrorHasOccurred = pdTRUE;
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319 if( xArePollingQueuesStillRunning() != pdTRUE )
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321 xErrorHasOccurred = pdTRUE;
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324 if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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326 xErrorHasOccurred = pdTRUE;
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329 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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331 xErrorHasOccurred = pdTRUE;
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334 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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336 xErrorHasOccurred = pdTRUE;
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339 if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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341 xErrorHasOccurred = pdTRUE;
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344 if( xAreMathsTaskStillRunning() != pdTRUE )
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346 xErrorHasOccurred = pdTRUE;
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349 if( xIsCreateTaskStillRunning() != pdTRUE )
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351 xErrorHasOccurred = pdTRUE;
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354 return ( xErrorHasOccurred );
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356 /*-----------------------------------------------------------*/
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360 * \brief Dynamically created and deleted during each cycle of the vErrorChecks()
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361 * task. This is done to check the operation of the memory allocator.
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362 * See the top of vErrorChecks for more details.
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364 * \param *pvParameters Parameters for the task (can be of any kind)
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366 static void vMemCheckTask( void *pvParameters )
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368 unsigned portLONG *pulMemCheckTaskRunningCounter;
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369 void *pvMem1, *pvMem2, *pvMem3;
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370 static portLONG lErrorOccurred = pdFALSE;
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372 /* This task is dynamically created then deleted during each cycle of the
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373 vErrorChecks task to check the operation of the memory allocator. Each time
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374 the task is created memory is allocated for the stack and TCB. Each time
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375 the task is deleted this memory is returned to the heap. This task itself
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376 exercises the allocator by allocating and freeing blocks.
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378 The task executes at the idle priority so does not require a delay.
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380 pulMemCheckTaskRunningCounter is incremented each cycle to indicate to the
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381 vErrorChecks() task that this task is still executing without error. */
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383 pulMemCheckTaskRunningCounter = ( unsigned portLONG * ) pvParameters;
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387 if( lErrorOccurred == pdFALSE )
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389 /* We have never seen an error so increment the counter. */
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390 ( *pulMemCheckTaskRunningCounter )++;
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394 /* There has been an error so reset the counter so the check task
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395 can tell that an error occurred. */
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396 *pulMemCheckTaskRunningCounter = mainCOUNT_INITIAL_VALUE;
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399 /* Allocate some memory - just to give the allocator some extra
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400 exercise. This has to be in a critical section to ensure the
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401 task does not get deleted while it has memory allocated. */
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405 pvMem1 = pvPortMalloc( mainMEM_CHECK_SIZE_1 );
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407 if( pvMem1 == NULL )
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409 lErrorOccurred = pdTRUE;
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413 memset( pvMem1, 0xaa, mainMEM_CHECK_SIZE_1 );
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414 vPortFree( pvMem1 );
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419 /* Again - with a different size block. */
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422 pvMem2 = pvPortMalloc( mainMEM_CHECK_SIZE_2 );
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424 if( pvMem2 == NULL )
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426 lErrorOccurred = pdTRUE;
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430 memset( pvMem2, 0xaa, mainMEM_CHECK_SIZE_2 );
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431 vPortFree( pvMem2 );
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436 /* Again - with a different size block. */
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439 pvMem3 = pvPortMalloc( mainMEM_CHECK_SIZE_3 );
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440 if( pvMem3 == NULL )
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442 lErrorOccurred = pdTRUE;
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446 memset( pvMem3, 0xaa, mainMEM_CHECK_SIZE_3 );
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447 vPortFree( pvMem3 );
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453 /*-----------------------------------------------------------*/
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455 static void prvIndicateError( void )
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457 /* The check task has found an error in one of the other tasks.
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458 Set the LEDs to a state that indicates this. */
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459 vParTestSetLED(mainERROR_LED,pdTRUE);
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463 #if( BOARD==EVK1100 )
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464 vParTestToggleLED( mainCHECK_TASK_LED );
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465 vTaskDelay( mainERROR_FLASH_RATE );
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467 #if ( BOARD==EVK1101 )
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468 vParTestSetLED( 0, pdTRUE );
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469 vParTestSetLED( 1, pdTRUE );
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470 vParTestSetLED( 2, pdTRUE );
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471 vParTestSetLED( 3, pdTRUE );
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