2 FreeRTOS.org V4.7.1 - Copyright (C) 2003-2008 Richard Barry.
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4 This file is part of the FreeRTOS.org distribution.
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6 FreeRTOS.org is free software; you can redistribute it and/or modify
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7 it under the terms of the GNU General Public License as published by
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8 the Free Software Foundation; either version 2 of the License, or
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9 (at your option) any later version.
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11 FreeRTOS.org is distributed in the hope that it will be useful,
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12 but WITHOUT ANY WARRANTY; without even the implied warranty of
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13 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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14 GNU General Public License for more details.
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16 You should have received a copy of the GNU General Public License
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17 along with FreeRTOS.org; if not, write to the Free Software
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18 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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20 A special exception to the GPL can be applied should you wish to distribute
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21 a combined work that includes FreeRTOS.org, without being obliged to provide
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22 the source code for any proprietary components. See the licensing section
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23 of http://www.FreeRTOS.org for full details of how and when the exception
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26 ***************************************************************************
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28 Please ensure to read the configuration and relevant port sections of the
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29 online documentation.
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31 +++ http://www.FreeRTOS.org +++
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32 Documentation, latest information, license and contact details.
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34 +++ http://www.SafeRTOS.com +++
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35 A version that is certified for use in safety critical systems.
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37 +++ http://www.OpenRTOS.com +++
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38 Commercial support, development, porting, licensing and training services.
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40 ***************************************************************************
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44 * Creates all the demo application tasks, then starts the scheduler. The WEB
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45 * documentation provides more details of the standard demo application tasks.
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46 * In addition to the standard demo tasks, the following tasks and tests are
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47 * defined and/or created within this file:
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49 * "Fast Interrupt Test" - A high frequency periodic interrupt is generated
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50 * using a free running timer to demonstrate the use of the
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51 * configKERNEL_INTERRUPT_PRIORITY configuration constant. The interrupt
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52 * service routine measures the number of processor clocks that occur between
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53 * each interrupt - and in so doing measures the jitter in the interrupt timing.
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54 * The maximum measured jitter time is latched in the ulMaxJitter variable, and
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55 * displayed on the LCD display by the 'LCD' task as described below. The
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56 * fast interrupt is configured and handled in the timertest.c source file.
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58 * "LCD" task - the LCD task is a 'gatekeeper' task. It is the only task that
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59 * is permitted to access the display directly. Other tasks wishing to write a
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60 * message to the LCD send the message on a queue to the LCD task instead of
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61 * accessing the LCD themselves. The LCD task just blocks on the queue waiting
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62 * for messages - waking and displaying the messages as they arrive.
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64 * "Check" task - This only executes every three seconds but has the highest
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65 * priority so is guaranteed to get processor time. Its main function is to
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66 * check that all the standard demo tasks are still operational. Should any
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67 * unexpected behaviour within a demo task be discovered the check task will
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68 * write an error to the LCD (via the LCD task). If all the demo tasks are
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69 * executing with their expected behaviour then the check task writes the
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70 * maximum jitter time to the LCD (as described above) - again via the LCD task.
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72 * "Register test" tasks - These tasks are used in part to test the kernel port.
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73 * They set each processor register to a known value, then check that the
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74 * register still contains that value. Each of the tasks sets the registers
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75 * to different values, and will get swapping in and out between setting and
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76 * then subsequently checking the register values. Discovery of an incorrect
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77 * value would be indicative of an error in the task switching mechanism.
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80 /* Standard includes. */
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83 /* Scheduler includes. */
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84 #include "FreeRTOS.h"
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88 /* Demo application includes. */
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89 #include "partest.h"
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90 #include "integer.h"
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91 #include "blocktim.h"
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93 #include "semtest.h"
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94 #include "GenQTest.h"
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97 #include "comtest2.h"
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98 #include "timertest.h"
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100 #pragma config FPLLMUL = MUL_18, FPLLIDIV = DIV_2, FPLLODIV = DIV_1, FWDTEN = OFF
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101 #pragma config POSCMOD = HS, FNOSC = PRIPLL, FPBDIV = DIV_2
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103 /*-----------------------------------------------------------*/
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105 /* The rate at which the LED controlled by the 'check' task will flash when no
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106 errors have been detected. */
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107 #define mainNO_ERROR_PERIOD ( 3000 / portTICK_RATE_MS )
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109 /* The rate at which the LED controlled by the 'check' task will flash when an
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110 error has been detected. */
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111 #define mainERROR_PERIOD ( 500 )
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113 /* The priorities of the various demo application tasks. */
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114 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 4 )
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115 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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116 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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117 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
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118 #define mainINTEGER_TASK_PRIORITY ( tskIDLE_PRIORITY )
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119 #define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )
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121 /* The LED controlled by the 'check' task. */
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122 #define mainCHECK_LED ( 7 )
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124 /* The LED used by the comtest tasks. mainCOM_TEST_LED + 1 is also used.
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125 See the comtest.c file for more information. */
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126 #define mainCOM_TEST_LED ( 4 )
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128 /* Baud rate used by the comtest tasks. */
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129 #define mainCOM_TEST_BAUD_RATE ( 115200 )
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132 #define mainDONT_WAIT ( 0 )
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134 /* Dimension the buffer used to hold the value of the maximum jitter time when
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135 it is converted to a string. */
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136 #define mainMAX_STRING_LENGTH ( 20 )
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138 /* The frequency at which the "fast interrupt test" interrupt will occur. */
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139 #define mainTEST_INTERRUPT_FREQUENCY ( 20000 )
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141 /* The number of timer clocks we expect to occur between each "fast
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142 interrupt test" interrupt. */
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143 #define mainEXPECTED_CLOCKS_BETWEEN_INTERRUPTS ( ( configCPU_CLOCK_HZ >> 1 ) / mainTEST_INTERRUPT_FREQUENCY )
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145 /* The number of nano seconds between each core clock. */
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146 #define mainNS_PER_CLOCK ( ( unsigned portLONG ) ( ( 1.0 / ( double ) ( configCPU_CLOCK_HZ >> 1 ) ) * 1000000000.0 ) )
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148 /*-----------------------------------------------------------*/
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151 * Setup the processor ready for the demo.
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153 static void prvSetupHardware( void );
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156 * Implements the 'check' task functionality as described at the top of this
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159 static void prvCheckTask( void *pvParameters ) __attribute__((noreturn));
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162 * Tasks that test the context switch mechanism by filling the processor
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163 * registers with known values, then checking that the values contained
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164 * within the registers is as expected. The tasks are likely to get swapped
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165 * in and out between setting the register values and checking the register
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167 static void prvTestTask1( void *pvParameters );
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168 static void prvTestTask2( void *pvParameters );
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170 /*-----------------------------------------------------------*/
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172 /* The queue used to send messages to the LCD task. */
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173 static xQueueHandle xLCDQueue;
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175 /* Flag used by prvTestTask1() and prvTestTask2() to indicate their status
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177 unsigned portLONG ulStatus1 = pdPASS;
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179 /* Variables incremented by prvTestTask1() and prvTestTask2() respectively on
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180 each iteration of their function. This is used to detect either task stopping
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181 their execution.. */
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182 unsigned portLONG ulRegTest1Cycles = 0, ulRegTest2Cycles = 0;
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184 /*-----------------------------------------------------------*/
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188 * Create the demo tasks then start the scheduler.
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192 /* Configure any hardware required for this demo. */
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193 prvSetupHardware();
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195 /* Create the LCD task - this returns the queue to use when writing
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196 messages to the LCD. */
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197 xLCDQueue = xStartLCDTask();
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199 /* Create all the other standard demo tasks. */
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200 vStartLEDFlashTasks( tskIDLE_PRIORITY );
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201 vCreateBlockTimeTasks();
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202 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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203 vStartIntegerMathTasks( mainINTEGER_TASK_PRIORITY );
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204 vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
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205 vStartQueuePeekTasks();
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206 vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
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208 /* Create the tasks defined within this file. */
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209 xTaskCreate( prvTestTask1, "Tst1", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
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210 xTaskCreate( prvTestTask2, "Tst2", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
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212 /* prvCheckTask uses sprintf so requires more stack. */
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213 xTaskCreate( prvCheckTask, "Check", configMINIMAL_STACK_SIZE * 2, NULL, mainCHECK_TASK_PRIORITY, NULL );
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215 /* Setup the high frequency, high priority, timer test. */
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216 vSetupTimerTest( mainTEST_INTERRUPT_FREQUENCY );
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218 /* Finally start the scheduler. */
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219 vTaskStartScheduler();
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221 /* Will only reach here if there is insufficient heap available to start
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225 /*-----------------------------------------------------------*/
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227 static void prvTestTask1( void *pvParameters )
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229 extern void vRegTest1( unsigned long * );
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233 /* Perform the register test function. */
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234 vRegTest1( &ulStatus1 );
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236 /* Increment the counter so the check task knows we are still
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238 ulRegTest1Cycles++;
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241 /*-----------------------------------------------------------*/
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243 static void prvTestTask2( void *pvParameters )
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245 extern void vRegTest2( unsigned long * );
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249 /* Perform the register test function. */
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250 vRegTest2( &ulStatus1 );
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252 /* Increment the counter so the check task knows we are still
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254 ulRegTest2Cycles++;
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257 /*-----------------------------------------------------------*/
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259 static void prvSetupHardware( void )
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261 /* Set the system and peripheral bus speeds and enable the program cache*/
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262 SYSTEMConfigPerformance( configCPU_CLOCK_HZ );
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264 /* Setup to use the external interrupt controller. */
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265 INTEnableSystemMultiVectoredInt();
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267 portDISABLE_INTERRUPTS();
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269 /* Setup the digital IO for the LED's. */
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270 vParTestInitialise();
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272 /*-----------------------------------------------------------*/
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274 static void prvCheckTask( void *pvParameters )
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276 unsigned portLONG ulLastRegTest1Value = 0, ulLastRegTest2Value = 0, ulTicksToWait = mainNO_ERROR_PERIOD;
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277 portTickType xLastExecutionTime;
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279 /* Buffer into which the maximum jitter time is written as a string. */
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280 static portCHAR cStringBuffer[ mainMAX_STRING_LENGTH ];
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282 /* The maximum jitter time measured by the fast interrupt test. */
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283 extern unsigned portLONG ulMaxJitter ;
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284 xLCDMessage xMessage = { ( 200 / portTICK_RATE_MS ), cStringBuffer };
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286 /* Initialise the variable used to control our iteration rate prior to
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288 xLastExecutionTime = xTaskGetTickCount();
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292 /* Wait until it is time to run the tests again. */
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293 vTaskDelayUntil( &xLastExecutionTime, ulTicksToWait );
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295 /* Has either register check 1 or 2 task discovered an error? */
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296 if( ulStatus1 != pdPASS )
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298 ulTicksToWait = mainERROR_PERIOD;
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299 xMessage.pcMessage = "Error: Reg test1";
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302 /* Check that the register test 1 task is still running. */
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303 if( ulLastRegTest1Value == ulRegTest1Cycles )
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305 ulTicksToWait = mainERROR_PERIOD;
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306 xMessage.pcMessage = "Error: Reg test2";
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308 ulLastRegTest1Value = ulRegTest1Cycles;
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311 /* Check that the register test 2 task is still running. */
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312 if( ulLastRegTest2Value == ulRegTest2Cycles )
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314 ulTicksToWait = mainERROR_PERIOD;
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315 xMessage.pcMessage = "Error: Reg test3";
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317 ulLastRegTest2Value = ulRegTest2Cycles;
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320 /* Have any of the standard demo tasks detected an error in their
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322 if( xAreGenericQueueTasksStillRunning() != pdTRUE )
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324 ulTicksToWait = mainERROR_PERIOD;
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325 xMessage.pcMessage = "Error: Gen Q";
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327 else if( xAreQueuePeekTasksStillRunning() != pdTRUE )
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329 ulTicksToWait = mainERROR_PERIOD;
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330 xMessage.pcMessage = "Error: Q Peek";
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332 else if( xAreComTestTasksStillRunning() != pdTRUE )
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334 ulTicksToWait = mainERROR_PERIOD;
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335 xMessage.pcMessage = "Error: COM test";
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337 else if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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339 ulTicksToWait = mainERROR_PERIOD;
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340 xMessage.pcMessage = "Error: Blck time";
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342 else if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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344 ulTicksToWait = mainERROR_PERIOD;
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345 xMessage.pcMessage = "Error: Sem test";
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347 else if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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349 ulTicksToWait = mainERROR_PERIOD;
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350 xMessage.pcMessage = "Error: Int math";
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353 /* Write the max jitter time to the string buffer. It will only be
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354 displayed if no errors have been detected. */
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355 sprintf( cStringBuffer, "%dns max jitter", ( int ) ( ( ulMaxJitter - mainEXPECTED_CLOCKS_BETWEEN_INTERRUPTS ) * mainNS_PER_CLOCK ) );
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357 xQueueSend( xLCDQueue, &xMessage, mainDONT_WAIT );
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358 vParTestToggleLED( mainCHECK_LED );
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361 /*-----------------------------------------------------------*/
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363 void vApplicationGeneralExceptionHandler( unsigned portLONG ulCause, unsigned portLONG ulStatus )
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365 /* This overrides the definition provided by the kernel. Other exceptions
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366 should be handled here. */
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