2 FreeRTOS V6.0.0 - Copyright (C) 2009 Real Time Engineers Ltd.
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4 This file is part of the FreeRTOS distribution.
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6 FreeRTOS is free software; you can redistribute it and/or modify it under
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7 the terms of the GNU General Public License (version 2) as published by the
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8 Free Software Foundation and modified by the FreeRTOS exception.
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9 **NOTE** The exception to the GPL is included to allow you to distribute a
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10 combined work that includes FreeRTOS without being obliged to provide the
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11 source code for proprietary components outside of the FreeRTOS kernel.
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12 Alternative commercial license and support terms are also available upon
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13 request. See the licensing section of http://www.FreeRTOS.org for full
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16 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT
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17 ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
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18 FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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21 You should have received a copy of the GNU General Public License along
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22 with FreeRTOS; if not, write to the Free Software Foundation, Inc., 59
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23 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
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26 ***************************************************************************
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28 * The FreeRTOS eBook and reference manual are available to purchase for a *
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29 * small fee. Help yourself get started quickly while also helping the *
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30 * FreeRTOS project! See http://www.FreeRTOS.org/Documentation for details *
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32 ***************************************************************************
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36 Please ensure to read the configuration and relevant port sections of the
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37 online documentation.
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39 http://www.FreeRTOS.org - Documentation, latest information, license and
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42 http://www.SafeRTOS.com - A version that is certified for use in safety
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45 http://www.OpenRTOS.com - Commercial support, development, porting,
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46 licensing and training services.
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51 * Creates all the demo application tasks, then starts the scheduler. The WEB
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52 * documentation provides more details of the demo application tasks.
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54 * In addition to the standard demo tasks, the follow demo specific tasks are
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57 * The "Check" task. This only executes every three seconds but has the highest
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58 * priority so is guaranteed to get processor time. Its main function is to
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59 * check that all the other tasks are still operational. Most tasks maintain
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60 * a unique count that is incremented each time the task successfully completes
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61 * its function. Should any error occur within such a task the count is
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62 * permanently halted. The check task inspects the count of each task to ensure
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63 * it has changed since the last time the check task executed. If all the count
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64 * variables have changed all the tasks are still executing error free, and the
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65 * check task toggles the onboard LED. Should any task contain an error at any time
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66 * the LED toggle rate will change from 3 seconds to 500ms.
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68 * The "Register Check" tasks. These tasks fill the CPU registers with known
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69 * values, then check that each register still contains the expected value 0 the
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70 * discovery of an unexpected value being indicative of an error in the RTOS
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71 * context switch mechanism. The register check tasks operate at low priority
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72 * so are switched in and out frequently.
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74 * The "Trace Utility" task. This can be used to obtain trace and debug
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75 * information via UART5.
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79 /* Hardware specific includes. */
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80 #include "mb91467d.h"
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81 #include "vectors.h"
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82 #include "watchdog.h"
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84 /* Scheduler includes. */
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85 #include "FreeRTOS.h"
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88 /* Demo app includes. */
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90 #include "integer.h"
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91 #include "comtest2.h"
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92 #include "semtest.h"
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94 #include "dynamic.h"
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96 #include "GenQTest.h"
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98 #include "blocktim.h"
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100 #include "taskutility.h"
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101 #include "partest.h"
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102 #include "crflash.h"
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104 /* Demo task priorities. */
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105 #define mainWATCHDOG_TASK_PRIORITY ( tskIDLE_PRIORITY + 5 )
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106 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 4 )
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107 #define mainUTILITY_TASK_PRIORITY ( tskIDLE_PRIORITY )
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108 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 3 )
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109 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
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110 #define mainQUEUE_BLOCK_PRIORITY ( tskIDLE_PRIORITY + 2 )
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111 #define mainDEATH_PRIORITY ( tskIDLE_PRIORITY + 1 )
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112 #define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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113 #define mainGENERIC_QUEUE_PRIORITY ( tskIDLE_PRIORITY )
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115 /* Baud rate used by the COM test tasks. */
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116 #define mainCOM_TEST_BAUD_RATE ( ( unsigned portLONG ) 19200 )
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118 /* The frequency at which the 'Check' tasks executes. See the comments at the
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119 top of the page. When the system is operating error free the 'Check' task
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120 toggles an LED every three seconds. If an error is discovered in any task the
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121 rate is increased to 500 milliseconds. [in this case the '*' characters on the
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122 LCD represent LEDs]*/
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123 #define mainNO_ERROR_CHECK_DELAY ( ( portTickType ) 3000 / portTICK_RATE_MS )
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124 #define mainERROR_CHECK_DELAY ( ( portTickType ) 500 / portTICK_RATE_MS )
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126 /* The total number of LEDs available. */
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127 #define mainNO_CO_ROUTINE_LEDs ( 8 )
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129 /* The first LED used by the comtest tasks. */
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130 #define mainCOM_TEST_LED ( 0x05 )
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132 /* The LED used by the check task. */
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133 #define mainCHECK_TEST_LED ( 0x07 )
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135 /* The number of interrupt levels to use. */
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136 #define mainINTERRUPT_LEVELS ( 31 )
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138 /* The number of 'flash' co-routines to create - each toggles a different LED. */
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139 #define mainNUM_FLASH_CO_ROUTINES ( 8 )
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141 /*---------------------------------------------------------------------------*/
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144 * The function that implements the Check task. See the comments at the head
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145 * of the page for implementation details.
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147 static void prvErrorChecks( void *pvParameters );
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150 * Called by the Check task. Returns pdPASS if all the other tasks are found
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151 * to be operating without error - otherwise returns pdFAIL.
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153 static portSHORT prvCheckOtherTasksAreStillRunning( void );
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156 * Setup the microcontroller as used by this demo.
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158 static void prvSetupHardware( void );
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161 * Tasks that test the context switch mechanism by filling the CPU registers
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162 * with known values then checking that each register contains the value
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163 * expected. Each of the two tasks use different values, and as low priority
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164 * tasks, get swapped in and out regularly.
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166 static void vFirstRegisterTestTask( void *pvParameters );
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167 static void vSecondRegisterTestTask( void *pvParameters );
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169 /*---------------------------------------------------------------------------*/
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171 /* The variable that is set to true should an error be found in one of the
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172 register test tasks. */
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173 unsigned portLONG ulRegTestError = pdFALSE;
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175 /*---------------------------------------------------------------------------*/
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177 /* Start all the demo application tasks, then start the scheduler. */
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180 /* Initialise the hardware ready for the demo. */
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181 prvSetupHardware();
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183 /* Start the standard demo application tasks. */
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184 vStartLEDFlashTasks( mainLED_TASK_PRIORITY );
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185 vStartIntegerMathTasks( tskIDLE_PRIORITY );
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186 vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED - 1 );
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187 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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188 vStartBlockingQueueTasks ( mainQUEUE_BLOCK_PRIORITY );
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189 vStartDynamicPriorityTasks();
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190 vStartMathTasks( tskIDLE_PRIORITY );
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191 vStartGenericQueueTasks( mainGENERIC_QUEUE_PRIORITY );
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192 vStartQueuePeekTasks();
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193 vCreateBlockTimeTasks();
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194 vStartFlashCoRoutines( mainNUM_FLASH_CO_ROUTINES );
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196 /* Start the 'Check' task which is defined in this file. */
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197 xTaskCreate( prvErrorChecks, ( signed portCHAR * ) "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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199 /* Start the 'Register Test' tasks as described at the top of this file. */
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200 xTaskCreate( vFirstRegisterTestTask, ( signed portCHAR * ) "Reg1", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
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201 xTaskCreate( vSecondRegisterTestTask, ( signed portCHAR * ) "Reg2", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
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203 /* Start the task that write trace information to the UART. */
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204 vUtilityStartTraceTask( mainUTILITY_TASK_PRIORITY );
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206 /* If we are going to service the watchdog from within a task, then create
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208 #if WATCHDOG == WTC_IN_TASK
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209 vStartWatchdogTask( mainWATCHDOG_TASK_PRIORITY );
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212 /* The suicide tasks must be started last as they record the number of other
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213 tasks that exist within the system. The value is then used to ensure at run
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214 time the number of tasks that exists is within expected bounds. */
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215 vCreateSuicidalTasks( mainDEATH_PRIORITY );
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217 /* Now start the scheduler. Following this call the created tasks should
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219 vTaskStartScheduler( );
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221 /* vTaskStartScheduler() will only return if an error occurs while the
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222 idle task is being created. */
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225 /*-----------------------------------------------------------*/
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227 static void prvErrorChecks( void *pvParameters )
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229 portTickType xDelayPeriod = mainNO_ERROR_CHECK_DELAY, xLastExecutionTime;
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231 /* Initialise xLastExecutionTime so the first call to vTaskDelayUntil()
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232 works correctly. */
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233 xLastExecutionTime = xTaskGetTickCount();
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235 /* Cycle for ever, delaying then checking all the other tasks are still
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236 operating without error. */
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239 /* Wait until it is time to check again. The time we wait here depends
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240 on whether an error has been detected or not. When an error is
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241 detected the time is shortened resulting in a faster LED flash rate. */
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242 /* Perform this check every mainCHECK_DELAY milliseconds. */
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243 vTaskDelayUntil( &xLastExecutionTime, xDelayPeriod );
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245 /* See if the other tasks are all ok. */
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246 if( prvCheckOtherTasksAreStillRunning() != pdPASS )
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248 /* An error occurred in one of the tasks so shorten the delay
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249 period - which has the effect of increasing the frequency of the
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251 xDelayPeriod = mainERROR_CHECK_DELAY;
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255 vParTestToggleLED( mainCHECK_TEST_LED );
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258 /*-----------------------------------------------------------*/
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260 static portSHORT prvCheckOtherTasksAreStillRunning( void )
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262 portBASE_TYPE lReturn = pdPASS;
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264 /* The demo tasks maintain a count that increments every cycle of the task
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265 provided that the task has never encountered an error. This function
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266 checks the counts maintained by the tasks to ensure they are still being
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267 incremented. A count remaining at the same value between calls therefore
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268 indicates that an error has been detected. */
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270 if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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275 if( xAreComTestTasksStillRunning() != pdTRUE )
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280 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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285 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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290 if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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295 if( xAreMathsTaskStillRunning() != pdTRUE )
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300 if( xIsCreateTaskStillRunning() != pdTRUE )
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305 if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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310 if ( xAreGenericQueueTasksStillRunning() != pdTRUE )
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315 if ( xAreQueuePeekTasksStillRunning() != pdTRUE )
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320 /* Have the register test tasks found any errors? */
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321 if( ulRegTestError != pdFALSE )
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328 /*-----------------------------------------------------------*/
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330 static void prvSetupHardware( void )
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332 /* Allow all interrupt levels. */
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333 __set_il( mainINTERRUPT_LEVELS );
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335 /* Initialise interrupts. */
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338 /* Initialise the ports used by the LEDs. */
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339 vParTestInitialise();
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341 /* If we are going to use the watchdog, then initialise it now. */
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342 #if WATCHDOG != WTC_NONE
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346 /*-----------------------------------------------------------*/
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348 /* Idle hook function. */
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349 #if configUSE_IDLE_HOOK == 1
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350 void vApplicationIdleHook( void )
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352 /* Are we using the idle task to kick the watchdog? See watchdog.h
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353 for watchdog kicking options. Note this is for demonstration only
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354 and is not a suggested method of servicing the watchdog in a real
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356 #if WATCHDOG == WTC_IN_IDLE
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360 vCoRoutineSchedule();
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363 #if WATCHDOG == WTC_IN_IDLE
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364 #error configUSE_IDLE_HOOK must be set to 1 in FreeRTOSConfig.h if the watchdog is being cleared in the idle task hook.
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368 /*-----------------------------------------------------------*/
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370 /* Tick hook function. */
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371 #if configUSE_TICK_HOOK == 1
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372 void vApplicationTickHook( void )
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374 /* Are we using the tick to kick the watchdog? See watchdog.h
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375 for watchdog kicking options. Note this is for demonstration
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376 only and is not a suggested method of servicing the watchdog in
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377 a real application. */
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378 #if WATCHDOG == WTC_IN_TICK
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383 #if WATCHDOG == WTC_IN_TICK
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384 #error configUSE_TICK_HOOK must be set to 1 in FreeRTOSConfig.h if the watchdog is being cleared in the tick hook.
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387 /*-----------------------------------------------------------*/
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389 static void vFirstRegisterTestTask( void *pvParameters )
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391 extern volatile unsigned portLONG ulCriticalNesting;
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393 /* Fills the registers with known values (different to the values
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394 used in vSecondRegisterTestTask()), then checks that the registers still
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395 all contain the expected value. This is done to test the context save
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396 and restore mechanism as this task is swapped onto and off of the CPU. */
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401 ;Load known values into each register.
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402 LDI #0x11111111, R0
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403 LDI #0x22222222, R1
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404 LDI #0x33333333, R2
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405 LDI #0x44444444, R3
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406 LDI #0x55555555, R4
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407 LDI #0x66666666, R5
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408 LDI #0x77777777, R6
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409 LDI #0x88888888, R7
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410 LDI #0x99999999, R8
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411 LDI #0xaaaaaaaa, R9
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412 LDI #0xbbbbbbbb, R10
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413 LDI #0xcccccccc, R11
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414 LDI #0xdddddddd, R12
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416 ;Check each register still contains the expected value.
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417 LDI #0x11111111, R13
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419 BNE First_Set_Error
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421 LDI #0x22222222, R13
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423 BNE First_Set_Error
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425 LDI #0x33333333, R13
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427 BNE First_Set_Error
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429 LDI #0x44444444, R13
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431 BNE First_Set_Error
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433 LDI #0x55555555, R13
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435 BNE First_Set_Error
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437 LDI #0x66666666, R13
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439 BNE First_Set_Error
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441 LDI #0x77777777, R13
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443 BNE First_Set_Error
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445 LDI #0x88888888, R13
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447 BNE First_Set_Error
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449 LDI #0x99999999, R13
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451 BNE First_Set_Error
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453 LDI #0xaaaaaaaa, R13
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455 BNE First_Set_Error
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457 LDI #0xbbbbbbbb, R13
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459 BNE First_Set_Error
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461 LDI #0xcccccccc, R13
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463 BNE First_Set_Error
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465 LDI #0xdddddddd, R13
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467 BNE First_Set_Error
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469 BRA First_Start_Next_Loop
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473 ; Latch that an error has occurred.
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474 LDI #_ulRegTestError, R0
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475 LDI #0x00000001, R1
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479 First_Start_Next_Loop:
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485 /*-----------------------------------------------------------*/
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487 static void vSecondRegisterTestTask( void *pvParameters )
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489 extern volatile unsigned portLONG ulCriticalNesting;
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491 /* Fills the registers with known values (different to the values
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492 used in vFirstRegisterTestTask()), then checks that the registers still
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493 all contain the expected value. This is done to test the context save
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494 and restore mechanism as this task is swapped onto and off of the CPU. */
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499 ;Load known values into each register.
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500 LDI #0x11111111, R1
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501 LDI #0x22222222, R2
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503 LDI #0x33333333, R3
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504 LDI #0x44444444, R4
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505 LDI #0x55555555, R5
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506 LDI #0x66666666, R6
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507 LDI #0x77777777, R7
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508 LDI #0x88888888, R8
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509 LDI #0x99999999, R9
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511 LDI #0xaaaaaaaa, R10
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512 LDI #0xbbbbbbbb, R11
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513 LDI #0xcccccccc, R12
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514 LDI #0xdddddddd, R0
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516 ;Check each register still contains the expected value.
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517 LDI #0x11111111, R13
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519 BNE Second_Set_Error
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521 LDI #0x22222222, R13
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523 BNE Second_Set_Error
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525 LDI #0x33333333, R13
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527 BNE Second_Set_Error
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529 LDI #0x44444444, R13
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531 BNE Second_Set_Error
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533 LDI #0x55555555, R13
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535 BNE Second_Set_Error
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539 LDI #0x66666666, R13
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541 BNE Second_Set_Error
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543 LDI #0x77777777, R13
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545 BNE Second_Set_Error
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547 LDI #0x88888888, R13
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549 BNE Second_Set_Error
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551 LDI #0x99999999, R13
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553 BNE Second_Set_Error
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557 LDI #0xaaaaaaaa, R13
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559 BNE Second_Set_Error
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561 LDI #0xbbbbbbbb, R13
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563 BNE Second_Set_Error
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565 LDI #0xcccccccc, R13
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567 BNE Second_Set_Error
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569 LDI #0xdddddddd, R13
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571 BNE Second_Set_Error
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573 BRA Second_Start_Next_Loop
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577 ; Latch that an error has occurred.
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578 LDI #_ulRegTestError, R0
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579 LDI #0x00000001, R1
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583 Second_Start_Next_Loop:
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589 /*-----------------------------------------------------------*/
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