2 FreeRTOS V7.0.1 - Copyright (C) 2011 Real Time Engineers Ltd.
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5 FreeRTOS supports many tools and architectures. V7.0.0 is sponsored by:
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6 Atollic AB - Atollic provides professional embedded systems development
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7 tools for C/C++ development, code analysis and test automation.
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8 See http://www.atollic.com
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11 ***************************************************************************
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13 * FreeRTOS tutorial books are available in pdf and paperback. *
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14 * Complete, revised, and edited pdf reference manuals are also *
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17 * Purchasing FreeRTOS documentation will not only help you, by *
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18 * ensuring you get running as quickly as possible and with an *
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19 * in-depth knowledge of how to use FreeRTOS, it will also help *
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20 * the FreeRTOS project to continue with its mission of providing *
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21 * professional grade, cross platform, de facto standard solutions *
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22 * for microcontrollers - completely free of charge! *
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24 * >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
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26 * Thank you for using FreeRTOS, and thank you for your support! *
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28 ***************************************************************************
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31 This file is part of the FreeRTOS distribution.
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33 FreeRTOS is free software; you can redistribute it and/or modify it under
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34 the terms of the GNU General Public License (version 2) as published by the
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35 Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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36 >>>NOTE<<< The modification to the GPL is included to allow you to
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37 distribute a combined work that includes FreeRTOS without being obliged to
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38 provide the source code for proprietary components outside of the FreeRTOS
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39 kernel. FreeRTOS is distributed in the hope that it will be useful, but
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40 WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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41 or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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42 more details. You should have received a copy of the GNU General Public
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43 License and the FreeRTOS license exception along with FreeRTOS; if not it
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44 can be viewed here: http://www.freertos.org/a00114.html and also obtained
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45 by writing to Richard Barry, contact details for whom are available on the
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50 http://www.FreeRTOS.org - Documentation, latest information, license and
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53 http://www.SafeRTOS.com - A version that is certified for use in safety
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56 http://www.OpenRTOS.com - Commercial support, development, porting,
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57 licensing and training services.
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61 * main-blinky.c is included when the "Blinky" build configuration is used.
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62 * main-full.c is included when the "Full" build configuration is used.
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64 * main-full.c (this file) defines a comprehensive demo that creates many
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65 * tasks, queues, semaphores and timers. It also demonstrates how Cortex-M3
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66 * interrupts can interact with FreeRTOS tasks/timers.
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68 * This project runs on the SK-FM3-100PMC evaluation board, which is populated
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69 * with an MB9BF5006N Cortex-M3 based microcontroller.
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71 * The main() Function:
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72 * main() creates three demo specific software timers, one demo specific queue,
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73 * and two demo specific tasks. It then creates a whole host of 'standard
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74 * demo' tasks/queues/semaphores, before starting the scheduler. The demo
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75 * specific tasks and timers are described in the comments here. The standard
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76 * demo tasks are described on the FreeRTOS.org web site.
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78 * The standard demo tasks provide no specific functionality. They are
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79 * included to both test the FreeRTOS port, and provide examples of how the
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80 * various FreeRTOS API functions can be used.
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82 * This demo creates 43 tasks in total. If you want a simpler demo, use the
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83 * Blinky build configuration.
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85 * The Demo Specific LED Software Timer and the Button Interrupt:
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86 * The user button SW2 is configured to generate an interrupt each time it is
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87 * pressed. The interrupt service routine switches an LED on, and resets the
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88 * LED software timer. The LED timer has a 5000 millisecond (5 second) period,
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89 * and uses a callback function that is defined to just turn the LED off again.
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90 * Therefore, pressing the user button will turn the LED on, and the LED will
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91 * remain on until a full five seconds pass without the button being pressed.
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92 * See the documentation page for this demo on the FreeRTOS.org web site to see
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93 * which LED is used.
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95 * The Demo Specific "Check" Callback Function:
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96 * This is called each time the 'check' timer expires. The check timer
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97 * callback function inspects all the standard demo tasks to see if they are
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98 * all executing as expected. The check timer is initially configured to
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99 * expire every three seconds, but will shorted this to every 500ms if an error
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100 * is ever discovered. The check timer callback toggles the LED defined by
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101 * the mainCHECK_LED definition each time it executes. Therefore, if LED
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102 * mainCHECK_LED is toggling every three seconds, then no error have been found.
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103 * If LED mainCHECK_LED is toggling every 500ms, then at least one errors has
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104 * been found. The variable pcStatusMessage is set to a string that indicates
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105 * which task reported an error. See the documentation page for this demo on
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106 * the FreeRTOS.org web site to see which LED in the 7 segment display is used.
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108 * The Demo Specific Idle Hook Function:
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109 * The idle hook function demonstrates how to query the amount of FreeRTOS heap
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110 * space that is remaining (see vApplicationIdleHook() defined in this file).
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112 * The Demo Specific Tick Hook Function:
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113 * The tick hook function is used to test the interrupt safe software timer
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117 /* Kernel includes. */
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118 #include "FreeRTOS.h"
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121 #include "timers.h"
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123 /* Freescale includes. */
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124 #include "common.h"
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126 /* Common demo includes. */
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127 #include "partest.h"
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129 #include "BlockQ.h"
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131 #include "blocktim.h"
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132 #include "semtest.h"
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133 #include "GenQTest.h"
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135 #include "recmutex.h"
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136 #include "TimerDemo.h"
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138 #include "countsem.h"
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139 #include "dynamic.h"
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141 /* The rate at which data is sent to the queue, specified in milliseconds, and
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142 converted to ticks using the portTICK_RATE_MS constant. */
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143 #define mainQUEUE_SEND_FREQUENCY_MS ( 200 / portTICK_RATE_MS )
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145 /* The number of items the queue can hold. This is 1 as the receive task
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146 will remove items as they are added, meaning the send task should always find
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147 the queue empty. */
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148 #define mainQUEUE_LENGTH ( 1 )
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150 /* The LED toggled by the check timer callback function. */
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151 #define mainCHECK_LED 3UL
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153 /* The LED turned on by the button interrupt, and turned off by the LED timer. */
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154 #define mainTIMER_CONTROLLED_LED 2UL
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156 /* The LEDs toggled by the two simple flash LED timers. */
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157 #define mainLED0 0UL
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158 #define mainLED1 1UL
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160 /* Constant used by the standard timer test functions. */
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161 #define mainTIMER_TEST_PERIOD ( 50 )
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163 /* Priorities used by the various different standard demo tasks. */
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164 #define mainCHECK_TASK_PRIORITY ( configMAX_PRIORITIES - 1 )
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165 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 1 )
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166 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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167 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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168 #define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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169 #define mainINTEGER_TASK_PRIORITY ( tskIDLE_PRIORITY )
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170 #define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )
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171 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
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172 #define mainuIP_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
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174 /* The WEB server uses string handling functions, which in turn use a bit more
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175 stack than most of the other tasks. */
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176 #define mainuIP_STACK_SIZE ( configMINIMAL_STACK_SIZE * 3 )
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178 /* Priorities defined in this main-full.c file. */
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179 #define mainQUEUE_RECEIVE_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
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180 #define mainQUEUE_SEND_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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182 /* The period at which the check timer will expire, in ms, provided no errors
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183 have been reported by any of the standard demo tasks. ms are converted to the
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184 equivalent in ticks using the portTICK_RATE_MS constant. */
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185 #define mainCHECK_TIMER_PERIOD_MS ( 3000UL / portTICK_RATE_MS )
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187 /* The period at which the check timer will expire, in ms, if an error has been
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188 reported in one of the standard demo tasks. ms are converted to the equivalent
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189 in ticks using the portTICK_RATE_MS constant. */
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190 #define mainERROR_CHECK_TIMER_PERIOD_MS ( 500UL / portTICK_RATE_MS )
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192 /* The LED will remain on until the button has not been pushed for a full
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194 #define mainBUTTON_LED_TIMER_PERIOD_MS ( 5000UL / portTICK_RATE_MS )
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196 /* The period at which the two simple LED flash timers will execute their
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197 callback functions. */
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198 #define mainLED1_TIMER_PERIOD_MS ( 200 / portTICK_RATE_MS )
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199 #define mainLED2_TIMER_PERIOD_MS ( 600 / portTICK_RATE_MS )
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201 /* A block time of zero simply means "don't block". */
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202 #define mainDONT_BLOCK ( 0UL )
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204 /* The vector used by the GPIO port E. Button SW2 is configured to generate
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205 an interrput on this port. */
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206 #define mainGPIO_E_VECTOR ( 107 - 16 )
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208 /*-----------------------------------------------------------*/
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211 * Setup the NVIC, LED outputs, and button inputs.
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213 static void prvSetupHardware( void );
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216 * Creates the timers that are specific to this demo - namely, the check timer
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217 * the button LED timer, and the two simple LED flash timers.
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219 static void prvCreateDemoSpecificTimers( void );
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222 * The LED timer callback function. This does nothing but switch an LED off.
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224 static void prvButtonLEDTimerCallback( xTimerHandle xTimer );
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227 * The callback function used by both simple LED flash timers. Both timers use
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228 * the same callback, so the function parameter is used to determine which LED
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229 * should be flashed (effectively to determine which timer has expired.
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231 static void prvLEDTimerCallback( xTimerHandle xTimer );
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234 * The check timer callback function, as described at the top of this file.
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236 static void prvCheckTimerCallback( xTimerHandle xTimer );
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239 * This is not a 'standard' partest function, so the prototype is not in
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240 * partest.h, and is instead included here.
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242 void vParTestSetLEDFromISR( unsigned portBASE_TYPE uxLED, signed portBASE_TYPE xValue );
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245 * Contains the implementation of the WEB server.
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247 extern void vuIP_Task( void *pvParameters );
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249 /*-----------------------------------------------------------*/
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251 /* The queue used by both application specific demo tasks defined in this file. */
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252 static xQueueHandle xQueue = NULL;
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254 /* The LED software timer. This uses prvButtonLEDTimerCallback() as it's callback
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256 static xTimerHandle xLEDTimer = NULL;
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258 /* The check timer. This uses prvCheckTimerCallback() as its callback
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260 static xTimerHandle xCheckTimer = NULL;
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262 /* LED timers - these simply flash LEDs, each using a different frequency. */
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263 static xTimerHandle xLED1Timer = NULL, xLED2Timer = NULL;
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265 /* If an error is detected in a standard demo task, then pcStatusMessage will
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266 be set to point to a string that identifies the offending task. This is just
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267 to make debugging easier. */
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268 static const char *pcStatusMessage = NULL;
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270 /* Used in the run time stats calculation. */
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271 static unsigned long ulClocksPer10thOfAMilliSecond = 0UL;
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272 /*-----------------------------------------------------------*/
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276 /* Configure the NVIC, LED outputs and button inputs. */
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277 prvSetupHardware();
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279 /* Create the queue. */
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280 xQueue = xQueueCreate( mainQUEUE_LENGTH, sizeof( unsigned long ) );
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282 if( xQueue != NULL )
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284 /* Create the timers that are specific to this demo - other timers are
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285 created as part of the standard demo within vStartTimerDemoTask. */
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286 prvCreateDemoSpecificTimers();
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288 /* Create a lot of 'standard demo' tasks. Over 40 tasks are created in
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289 this demo. For a much simpler demo, select the 'blinky' build
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291 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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292 vCreateBlockTimeTasks();
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293 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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294 vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
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295 vStartQueuePeekTasks();
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296 vStartRecursiveMutexTasks();
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297 vStartTimerDemoTask( mainTIMER_TEST_PERIOD );
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298 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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299 vStartCountingSemaphoreTasks();
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300 vStartDynamicPriorityTasks();
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302 /* The web server task. */
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303 xTaskCreate( vuIP_Task, "uIP", mainuIP_STACK_SIZE, NULL, mainuIP_TASK_PRIORITY, NULL );
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305 /* The suicide tasks must be created last, as they need to know how many
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306 tasks were running prior to their creation in order to ascertain whether
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307 or not the correct/expected number of tasks are running at any given
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309 vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
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311 /* Start the tasks and timer running. */
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312 vTaskStartScheduler();
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315 /* If all is well, the scheduler will now be running, and the following line
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316 will never be reached. If the following line does execute, then there was
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317 insufficient FreeRTOS heap memory available for the idle and/or timer tasks
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318 to be created. See the memory management section on the FreeRTOS web site
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319 for more details. */
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322 /*-----------------------------------------------------------*/
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324 static void prvCheckTimerCallback( xTimerHandle xTimer )
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326 static long lChangedTimerPeriodAlready = pdFALSE;
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328 /* Check the standard demo tasks are running without error. Latch the
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329 latest reported error in the pcStatusMessage character pointer. */
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330 if( xAreGenericQueueTasksStillRunning() != pdTRUE )
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332 pcStatusMessage = "Error: GenQueue";
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335 if( xAreQueuePeekTasksStillRunning() != pdTRUE )
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337 pcStatusMessage = "Error: QueuePeek\n";
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340 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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342 pcStatusMessage = "Error: BlockQueue\n";
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345 if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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347 pcStatusMessage = "Error: BlockTime\n";
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350 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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352 pcStatusMessage = "Error: SemTest\n";
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355 if( xIsCreateTaskStillRunning() != pdTRUE )
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357 pcStatusMessage = "Error: Death\n";
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360 if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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362 pcStatusMessage = "Error: RecMutex\n";
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365 if( xAreTimerDemoTasksStillRunning( ( mainCHECK_TIMER_PERIOD_MS ) ) != pdTRUE )
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367 pcStatusMessage = "Error: TimerDemo\n";
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370 if( xArePollingQueuesStillRunning() != pdTRUE )
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372 pcStatusMessage = "Error: PollQueue\n";
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375 if( xAreCountingSemaphoreTasksStillRunning() != pdTRUE )
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377 pcStatusMessage = "Error: CountSem\n";
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380 if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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382 pcStatusMessage = "Error: DynamicPriority\n";
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385 /* Toggle the check LED to give an indication of the system status. If
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386 the LED toggles every mainCHECK_TIMER_PERIOD_MS milliseconds then
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387 everything is ok. A faster toggle indicates an error. */
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388 vParTestToggleLED( mainCHECK_LED );
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390 /* Have any errors been latch in pcStatusMessage? If so, shorten the
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391 period of the check timer to mainERROR_CHECK_TIMER_PERIOD_MS milliseconds.
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392 This will result in an increase in the rate at which mainCHECK_LED
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394 if( pcStatusMessage != NULL )
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396 if( lChangedTimerPeriodAlready == pdFALSE )
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398 lChangedTimerPeriodAlready = pdTRUE;
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399 printf( "%s", pcStatusMessage );
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401 /* This call to xTimerChangePeriod() uses a zero block time. Functions
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402 called from inside of a timer callback function must *never* attempt
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404 xTimerChangePeriod( xCheckTimer, ( mainERROR_CHECK_TIMER_PERIOD_MS ), mainDONT_BLOCK );
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408 /*-----------------------------------------------------------*/
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410 static void prvButtonLEDTimerCallback( xTimerHandle xTimer )
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412 /* The timer has expired - so no button pushes have occurred in the last
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413 five seconds - turn the LED off. */
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414 vParTestSetLED( mainTIMER_CONTROLLED_LED, pdFALSE );
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416 /*-----------------------------------------------------------*/
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418 static void prvLEDTimerCallback( xTimerHandle xTimer )
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420 unsigned long ulLED;
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422 /* This callback is shared by two timers, so the parameter is used to
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423 determine which LED to toggle. The LED number is stored in the ID of the
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425 ulLED = ( unsigned long ) pvTimerGetTimerID( xTimer );
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426 vParTestToggleLED( ulLED );
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428 /*-----------------------------------------------------------*/
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430 /* The ISR executed when the user button is pushed. */
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431 void vPort_E_ISRHandler( void )
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433 portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
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435 /* The button was pushed, so ensure the LED is on before resetting the
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436 LED timer. The LED timer will turn the LED off if the button is not
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437 pushed within 5000ms. */
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438 vParTestSetLED( mainTIMER_CONTROLLED_LED, pdTRUE );
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440 /* This interrupt safe FreeRTOS function can be called from this interrupt
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441 because the interrupt priority is below the
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442 configMAX_SYSCALL_INTERRUPT_PRIORITY setting in FreeRTOSConfig.h. */
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443 xTimerResetFromISR( xLEDTimer, &xHigherPriorityTaskWoken );
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445 /* Clear the interrupt before leaving. This just clears all the interrupts
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446 for simplicity, as only one is actually used in this simple demo anyway. */
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447 PORTE_ISFR = 0xFFFFFFFFUL;
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449 /* If calling xTimerResetFromISR() caused a task (in this case the timer
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450 service/daemon task) to unblock, and the unblocked task has a priority
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451 higher than or equal to the task that was interrupted, then
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452 xHigherPriorityTaskWoken will now be set to pdTRUE, and calling
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453 portEND_SWITCHING_ISR() will ensure the unblocked task runs next. */
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454 portEND_SWITCHING_ISR( xHigherPriorityTaskWoken );
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456 /*-----------------------------------------------------------*/
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458 static void prvSetupHardware( void )
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460 /* Enable the interrupt on SW1. */
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461 taskDISABLE_INTERRUPTS();
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462 PORTE_PCR26 = PORT_PCR_MUX( 1 ) | PORT_PCR_IRQC( 0xA ) | PORT_PCR_PE_MASK | PORT_PCR_PS_MASK;
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463 enable_irq( mainGPIO_E_VECTOR );
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464 set_irq_priority( mainGPIO_E_VECTOR, configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY );
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466 /* Configure the LED outputs. */
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467 vParTestInitialise();
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469 /*-----------------------------------------------------------*/
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471 static void prvCreateDemoSpecificTimers( void )
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473 /* This function creates the timers, but does not start them. This is
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474 because the standard demo timer test is started after this function is
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475 called. The standard demo timer test will deliberatly fill the timer
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476 command queue - and will fail the test if the command queue already holds
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477 start commands for the timers created here. Instead, the timers created in
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478 this function are started from the idle task, at which time, the timer
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479 service/daemon task will be running, and will have drained the timer command
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482 /* Create the software timer that is responsible for turning off the LED
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483 if the button is not pushed within 5000ms, as described at the top of
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485 xLEDTimer = xTimerCreate( ( const signed char * ) "ButtonLEDTimer", /* A text name, purely to help debugging. */
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486 ( mainBUTTON_LED_TIMER_PERIOD_MS ), /* The timer period, in this case 5000ms (5s). */
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487 pdFALSE, /* This is a one shot timer, so xAutoReload is set to pdFALSE. */
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488 ( void * ) 0, /* The ID is not used, so can be set to anything. */
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489 prvButtonLEDTimerCallback /* The callback function that switches the LED off. */
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492 /* Create the software timer that performs the 'check' functionality,
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493 as described at the top of this file. */
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494 xCheckTimer = xTimerCreate( ( const signed char * ) "CheckTimer",/* A text name, purely to help debugging. */
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495 ( mainCHECK_TIMER_PERIOD_MS ), /* The timer period, in this case 3000ms (3s). */
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496 pdTRUE, /* This is an auto-reload timer, so xAutoReload is set to pdTRUE. */
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497 ( void * ) 0, /* The ID is not used, so can be set to anything. */
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498 prvCheckTimerCallback /* The callback function that inspects the status of all the other tasks. */
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501 /* Create the software timers used to simply flash LEDs. These two timers
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502 share a callback function, so the callback parameter is used to pass in the
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503 LED that should be toggled. */
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504 xLED1Timer = xTimerCreate( ( const signed char * ) "LED1Timer",/* A text name, purely to help debugging. */
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505 ( mainLED1_TIMER_PERIOD_MS ), /* The timer period, in this case 3000ms (3s). */
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506 pdTRUE, /* This is an auto-reload timer, so xAutoReload is set to pdTRUE. */
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507 ( void * ) mainLED0, /* The ID is used to pass in the number of the LED to be toggled. */
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508 prvLEDTimerCallback /* The callback function simply toggles the LED specified by its parameter. */
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511 xLED2Timer = xTimerCreate( ( const signed char * ) "LED2Timer",/* A text name, purely to help debugging. */
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512 ( mainLED2_TIMER_PERIOD_MS ), /* The timer period, in this case 3000ms (3s). */
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513 pdTRUE, /* This is an auto-reload timer, so xAutoReload is set to pdTRUE. */
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514 ( void * ) mainLED1, /* The ID is used to pass in the number of the LED to be toggled. */
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515 prvLEDTimerCallback /* The callback function simply toggles the LED specified by its parameter. */
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518 /*-----------------------------------------------------------*/
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520 void vApplicationMallocFailedHook( void )
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522 /* Called if a call to pvPortMalloc() fails because there is insufficient
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523 free memory available in the FreeRTOS heap. pvPortMalloc() is called
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524 internally by FreeRTOS API functions that create tasks, queues, software
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525 timers, and semaphores. The size of the FreeRTOS heap is set by the
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526 configTOTAL_HEAP_SIZE configuration constant in FreeRTOSConfig.h. */
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527 taskDISABLE_INTERRUPTS();
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530 /*-----------------------------------------------------------*/
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532 void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed char *pcTaskName )
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534 ( void ) pcTaskName;
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537 /* Run time stack overflow checking is performed if
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538 configconfigCHECK_FOR_STACK_OVERFLOW is defined to 1 or 2. This hook
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539 function is called if a stack overflow is detected. */
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540 taskDISABLE_INTERRUPTS();
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543 /*-----------------------------------------------------------*/
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545 void vApplicationIdleHook( void )
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547 static long lPrintedOut = pdFALSE;
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548 volatile size_t xFreeHeapSpace;
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550 if( lPrintedOut == pdFALSE )
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552 lPrintedOut = pdTRUE;
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554 /* The timer command queue will have been filled when the timer test
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555 tasks were created in main() (this is part of the test they perform).
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556 Therefore, while the check and LED timers can be created in main(), they
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557 cannot be started from main(). Once the scheduler has started, the timer
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558 service task will drain the command queue, and now the check and digit
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559 counter timers can be started successfully. */
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560 xTimerStart( xCheckTimer, portMAX_DELAY );
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561 xTimerStart( xLED1Timer, portMAX_DELAY );
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562 xTimerStart( xLED2Timer, portMAX_DELAY );
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564 xFreeHeapSpace = xPortGetFreeHeapSize();
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565 printf( "%d bytes of FreeRTOS heap remain unused\nconfigTOTAL_HEAP_SIZE can be reduced\n", xFreeHeapSpace );
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567 if( xFreeHeapSpace > 100 )
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569 /* By now, the kernel has allocated everything it is going to, so
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570 if there is a lot of heap remaining unallocated then
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571 the value of configTOTAL_HEAP_SIZE in FreeRTOSConfig.h can be
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572 reduced accordingly. */
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576 /*-----------------------------------------------------------*/
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578 void vApplicationTickHook( void )
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580 /* Call the periodic timer test, which tests the timer API functions that
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581 can be called from an ISR. */
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582 vTimerPeriodicISRTests();
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584 /*-----------------------------------------------------------*/
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586 char *pcGetTaskStatusMessage( void )
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588 /* Not bothered about a critical section here although technically because
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589 of the task priorities the pointer could change it will be atomic if not
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590 near atomic and its not critical. */
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591 if( pcStatusMessage == NULL )
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593 return "All tasks running without error";
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597 return ( char * ) pcStatusMessage;
\r
600 /*-----------------------------------------------------------*/
\r
602 void vMainConfigureTimerForRunTimeStats( void )
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604 /* How many clocks are there per tenth of a millisecond? */
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605 ulClocksPer10thOfAMilliSecond = configCPU_CLOCK_HZ / 10000UL;
\r
607 /*-----------------------------------------------------------*/
\r
609 unsigned long ulMainGetRunTimeCounterValue( void )
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611 unsigned long ulSysTickCounts, ulTickCount, ulReturn;
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612 const unsigned long ulSysTickReloadValue = ( configCPU_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL;
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613 volatile unsigned long * const pulCurrentSysTickCount = ( ( volatile unsigned long *) 0xe000e018 );
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614 volatile unsigned long * const pulInterruptCTRLState = ( ( volatile unsigned long *) 0xe000ed04 );
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615 const unsigned long ulSysTickPendingBit = 0x04000000UL;
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617 /* NOTE: There are potentially race conditions here. It is ok to keep
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618 things simple, without using any additional timer peripherals. */
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621 /* The SysTick is a down counter. How many clocks have passed since it was
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623 ulSysTickCounts = ulSysTickReloadValue - *pulCurrentSysTickCount;
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625 /* How many times has it overflowed? */
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626 ulTickCount = xTaskGetTickCountFromISR();
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628 /* Is there a SysTick interrupt pending? */
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629 if( ( *pulInterruptCTRLState & ulSysTickPendingBit ) != 0UL )
\r
631 /* There is a SysTick interrupt pending, so the SysTick has overflowed
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632 but the tick count not yet incremented. */
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635 /* Read the SysTick again, as the overflow might have occurred since
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636 it was read last. */
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637 ulSysTickCounts = ulSysTickReloadValue - *pulCurrentSysTickCount;
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640 /* Convert the tick count into tenths of a millisecond. */
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641 ulReturn = ( ulTickCount * 10UL ) ;
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643 /* Add on the number of tenths of a millisecond that have passed since the
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644 tick count last got updated. */
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645 ulReturn += ( ulSysTickCounts / ulClocksPer10thOfAMilliSecond );
\r
649 /*-----------------------------------------------------------*/
\r