2 FreeRTOS V7.5.1 - Copyright (C) 2013 Real Time Engineers Ltd.
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4 VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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6 ***************************************************************************
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8 * FreeRTOS provides completely free yet professionally developed, *
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9 * robust, strictly quality controlled, supported, and cross *
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10 * platform software that has become a de facto standard. *
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12 * Help yourself get started quickly and support the FreeRTOS *
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13 * project by purchasing a FreeRTOS tutorial book, reference *
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14 * manual, or both from: http://www.FreeRTOS.org/Documentation *
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18 ***************************************************************************
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20 This file is part of the FreeRTOS distribution.
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22 FreeRTOS is free software; you can redistribute it and/or modify it under
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23 the terms of the GNU General Public License (version 2) as published by the
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24 Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
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26 >>! NOTE: The modification to the GPL is included to allow you to distribute
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27 >>! a combined work that includes FreeRTOS without being obliged to provide
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28 >>! the source code for proprietary components outside of the FreeRTOS
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31 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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32 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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33 FOR A PARTICULAR PURPOSE. Full license text is available from the following
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34 link: http://www.freertos.org/a00114.html
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38 ***************************************************************************
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40 * Having a problem? Start by reading the FAQ "My application does *
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41 * not run, what could be wrong?" *
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43 * http://www.FreeRTOS.org/FAQHelp.html *
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45 ***************************************************************************
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47 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
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48 license and Real Time Engineers Ltd. contact details.
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50 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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51 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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52 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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54 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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55 Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS
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56 licenses offer ticketed support, indemnification and middleware.
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58 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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59 engineered and independently SIL3 certified version for use in safety and
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60 mission critical applications that require provable dependability.
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66 NOTE : Tasks run in system mode and the scheduler runs in Supervisor mode.
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67 The processor MUST be in supervisor mode when vTaskStartScheduler is
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68 called. The demo applications included in the FreeRTOS.org download switch
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69 to supervisor mode prior to main being called. If you are not using one of
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70 these demo application projects then ensure Supervisor mode is used.
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75 * Creates all the demo application tasks, then starts the scheduler. The WEB
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76 * documentation provides more details of the demo application tasks.
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78 * Main.c also creates a task called "Check". This only executes every three
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79 * seconds but has the highest priority so is guaranteed to get processor time.
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80 * Its main function is to check that all the other tasks are still operational.
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81 * Each task (other than the "flash" tasks) maintains a unique count that is
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82 * incremented each time the task successfully completes its function. Should
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83 * any error occur within such a task the count is permanently halted. The
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84 * check task inspects the count of each task to ensure it has changed since
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85 * the last time the check task executed. If all the count variables have
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86 * changed all the tasks are still executing error free, and the check task
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87 * toggles the onboard LED. Should any task contain an error at any time
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88 * the LED toggle rate will change from 3 seconds to 500ms.
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90 * To check the operation of the memory allocator the check task also
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91 * dynamically creates a task before delaying, and deletes it again when it
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92 * wakes. If memory cannot be allocated for the new task the call to xTaskCreate
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93 * will fail and an error is signalled. The dynamically created task itself
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94 * allocates and frees memory just to give the allocator a bit more exercise.
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98 /* Standard includes. */
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100 #include <string.h>
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102 /* Scheduler includes. */
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103 #include "FreeRTOS.h"
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106 /* Demo application includes. */
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107 #include "partest.h"
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109 #include "integer.h"
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111 #include "comtest2.h"
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112 #include "semtest.h"
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114 #include "dynamic.h"
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115 #include "BlockQ.h"
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116 #include "serial.h"
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118 /* Hardware specific definitions. */
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122 /*-----------------------------------------------------------*/
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124 /* Constants for the ComTest tasks. */
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125 #define mainCOM_TEST_BAUD_RATE ( ( unsigned long ) 115200 )
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126 #define mainCOM_TEST_LED ( 5 )
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128 /* Priorities for the demo application tasks. */
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129 #define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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130 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
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131 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
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132 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 4 )
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133 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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134 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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136 /* The rate at which the on board LED will toggle when there is/is not an
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138 #define mainNO_ERROR_FLASH_PERIOD ( ( portTickType ) 3000 / portTICK_RATE_MS )
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139 #define mainERROR_FLASH_PERIOD ( ( portTickType ) 500 / portTICK_RATE_MS )
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140 #define mainON_BOARD_LED_BIT ( ( unsigned long ) 7 )
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142 /* Constants used by the vMemCheckTask() task. */
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143 #define mainCOUNT_INITIAL_VALUE ( ( unsigned long ) 0 )
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144 #define mainNO_TASK ( 0 )
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146 /* The size of the memory blocks allocated by the vMemCheckTask() task. */
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147 #define mainMEM_CHECK_SIZE_1 ( ( size_t ) 51 )
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148 #define mainMEM_CHECK_SIZE_2 ( ( size_t ) 52 )
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149 #define mainMEM_CHECK_SIZE_3 ( ( size_t ) 151 )
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151 #define MAX_WAIT_STATES 8
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152 static const unsigned long ululCSRWaitValues[ MAX_WAIT_STATES + 1 ] =
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154 WaitState1,/* There is no "zero wait state" value, so use one wait state */
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164 /*-----------------------------------------------------------*/
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167 * Checks that all the demo application tasks are still executing without error
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168 * - as described at the top of the file.
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170 static long prvCheckOtherTasksAreStillRunning( unsigned long ulMemCheckTaskCount );
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173 * The task that executes at the highest priority and calls
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174 * prvCheckOtherTasksAreStillRunning(). See the description at the top
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177 static void vErrorChecks( void *pvParameters );
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180 * Dynamically created and deleted during each cycle of the vErrorChecks()
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181 * task. This is done to check the operation of the memory allocator.
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182 * See the top of vErrorChecks for more details.
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184 static void vMemCheckTask( void *pvParameters );
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187 * Configure the processor for use with the Olimex demo board. This includes
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188 * setup for the I/O, system clock, and access timings.
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190 static void prvSetupHardware( void );
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192 /*-----------------------------------------------------------*/
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195 * Starts all the other tasks, then starts the scheduler.
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199 /* Setup the hardware for use with the Olimex demo board. */
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200 prvSetupHardware();
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202 /* Start the demo/test application tasks. */
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203 vStartIntegerMathTasks( tskIDLE_PRIORITY );
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204 vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
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205 vStartLEDFlashTasks( mainLED_TASK_PRIORITY );
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206 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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207 vStartMathTasks( tskIDLE_PRIORITY );
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208 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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209 vStartDynamicPriorityTasks();
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210 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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212 /* Start the check task - which is defined in this file. */
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213 xTaskCreate( vErrorChecks, ( signed char * ) "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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215 /* Now all the tasks have been started - start the scheduler.
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217 NOTE : Tasks run in system mode and the scheduler runs in Supervisor mode.
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218 The processor MUST be in supervisor mode when vTaskStartScheduler is
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219 called. The demo applications included in the FreeRTOS.org download switch
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220 to supervisor mode prior to main being called. If you are not using one of
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221 these demo application projects then ensure Supervisor mode is used here. */
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222 vTaskStartScheduler();
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224 /* Should never reach here! */
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227 /*-----------------------------------------------------------*/
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229 static void vErrorChecks( void *pvParameters )
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231 portTickType xDelayPeriod = mainNO_ERROR_FLASH_PERIOD;
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232 unsigned long ulMemCheckTaskRunningCount;
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233 xTaskHandle xCreatedTask;
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235 /* Just to stop compiler warnings. */
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236 ( void ) pvParameters;
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238 /* Cycle for ever, delaying then checking all the other tasks are still
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239 operating without error. If an error is detected then the delay period
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240 is decreased from mainNO_ERROR_FLASH_PERIOD to mainERROR_FLASH_PERIOD so
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241 the on board LED flash rate will increase.
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243 In addition to the standard tests the memory allocator is tested through
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244 the dynamic creation and deletion of a task each cycle. Each time the
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245 task is created memory must be allocated for its stack. When the task is
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246 deleted this memory is returned to the heap. If the task cannot be created
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247 then it is likely that the memory allocation failed. */
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251 /* Reset xCreatedTask. This is modified by the task about to be
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252 created so we can tell if it is executing correctly or not. */
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253 xCreatedTask = mainNO_TASK;
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255 /* Dynamically create a task - passing ulMemCheckTaskRunningCount as a
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257 ulMemCheckTaskRunningCount = mainCOUNT_INITIAL_VALUE;
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258 if( xTaskCreate( vMemCheckTask, ( signed char * ) "MEM_CHECK", configMINIMAL_STACK_SIZE, ( void * ) &ulMemCheckTaskRunningCount, tskIDLE_PRIORITY, &xCreatedTask ) != pdPASS )
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260 /* Could not create the task - we have probably run out of heap. */
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261 xDelayPeriod = mainERROR_FLASH_PERIOD;
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264 /* Delay until it is time to execute again. */
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265 vTaskDelay( xDelayPeriod );
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267 /* Delete the dynamically created task. */
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268 if( xCreatedTask != mainNO_TASK )
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270 vTaskDelete( xCreatedTask );
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273 /* Check all the standard demo application tasks are executing without
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274 error. ulMemCheckTaskRunningCount is checked to ensure it was
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275 modified by the task just deleted. */
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276 if( prvCheckOtherTasksAreStillRunning( ulMemCheckTaskRunningCount ) != pdPASS )
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278 /* An error has been detected in one of the tasks - flash faster. */
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279 xDelayPeriod = mainERROR_FLASH_PERIOD;
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282 /* The toggle rate of the LED depends on how long this task delays for.
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283 An error reduces the delay period and so increases the toggle rate. */
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284 vParTestToggleLED( mainON_BOARD_LED_BIT );
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287 /*-----------------------------------------------------------*/
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289 static void prvSetupHardware( void )
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293 #ifdef RUN_FROM_ROM
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295 portFLOAT nsecsPerClockTick;
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296 long lNumWaitStates;
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297 unsigned long ulCSRWaitValue;
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299 /* We are compiling to run from ROM (either on-chip or off-chip flash).
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300 Leave the RAM/flash mapped the way they are on reset
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301 (flash @ 0x00000000, RAM @ 0x00300000), and set up the
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302 proper flash wait states (starts out at the maximum number
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303 of wait states on reset, so we should be able to reduce it).
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304 Most of this code will probably get removed by the compiler
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305 if optimization is enabled, since these calculations are
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306 based on constants. But the compiler should still produce
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307 a correct wait state register value. */
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308 nsecsPerClockTick = ( portFLOAT ) 1000000000 / configCPU_CLOCK_HZ;
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309 lNumWaitStates = ( long )( ( configFLASH_SPEED_NSEC / nsecsPerClockTick ) + 0.5 ) - 1;
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311 if( lNumWaitStates < 0 )
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313 lNumWaitStates = 0;
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316 if( lNumWaitStates > MAX_WAIT_STATES )
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318 lNumWaitStates = MAX_WAIT_STATES;
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321 ulCSRWaitValue = ululCSRWaitValues[ lNumWaitStates ];
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322 ulCSRWaitValue = WaitState5;
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324 AT91C_BASE_EBI->EBI_CSR[ 0 ] = ulCSRWaitValue | DataBus16 | WaitStateEnable
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325 | PageSize1M | tDF_0cycle
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326 | ByteWriteAccessType | CSEnable
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327 | 0x00000000 /* Base Address */;
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329 #else /* else we are compiling to run from on-chip RAM */
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331 /* If compiling to run from RAM, we expect the on-chip RAM to already
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332 be mapped at 0x00000000. This is typically done with an initialization
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333 script for the JTAG emulator you are using to download and run the
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334 demo application. So there is nothing to do here in this case. */
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338 /* Disable all interrupts at the AIC level initially... */
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339 AT91C_BASE_AIC->AIC_IDCR = 0xFFFFFFFF;
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341 /* Set all SVR and SMR entries to default values (start with a clean slate)... */
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342 for( lCount = 0; lCount < 32; lCount++ )
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344 AT91C_BASE_AIC->AIC_SVR[ lCount ] = (unsigned long) 0;
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345 AT91C_BASE_AIC->AIC_SMR[ lCount ] = AIC_SRCTYPE_INT_EDGE_TRIGGERED;
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348 /* Disable clocks to all peripherals initially... */
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349 AT91C_BASE_PS->PS_PCDR = 0xFFFFFFFF;
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351 /* Clear all interrupts at the AIC level initially... */
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352 AT91C_BASE_AIC->AIC_ICCR = 0xFFFFFFFF;
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354 /* Perform 8 "End Of Interrupt" cmds to make sure AIC will not Lock out
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356 for( lCount = 0; lCount < 8; lCount++ )
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358 AT91C_BASE_AIC->AIC_EOICR = 0;
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361 /* Initialise LED outputs. */
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362 vParTestInitialise();
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364 /*-----------------------------------------------------------*/
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366 static long prvCheckOtherTasksAreStillRunning( unsigned long ulMemCheckTaskCount )
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368 long lReturn = ( long ) pdPASS;
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370 /* Check all the demo tasks (other than the flash tasks) to ensure
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371 that they are all still running, and that none of them have detected
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374 if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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376 lReturn = ( long ) pdFAIL;
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379 if( xAreComTestTasksStillRunning() != pdTRUE )
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381 lReturn = ( long ) pdFAIL;
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384 if( xArePollingQueuesStillRunning() != pdTRUE )
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386 lReturn = ( long ) pdFAIL;
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389 if( xAreMathsTaskStillRunning() != pdTRUE )
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391 lReturn = ( long ) pdFAIL;
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394 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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396 lReturn = ( long ) pdFAIL;
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399 if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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401 lReturn = ( long ) pdFAIL;
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404 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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406 lReturn = ( long ) pdFAIL;
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409 if( ulMemCheckTaskCount == mainCOUNT_INITIAL_VALUE )
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411 /* The vMemCheckTask did not increment the counter - it must
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413 lReturn = ( long ) pdFAIL;
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418 /*-----------------------------------------------------------*/
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420 static void vMemCheckTask( void *pvParameters )
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422 unsigned long *pulMemCheckTaskRunningCounter;
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423 void *pvMem1, *pvMem2, *pvMem3;
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424 static long lErrorOccurred = pdFALSE;
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426 /* This task is dynamically created then deleted during each cycle of the
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427 vErrorChecks task to check the operation of the memory allocator. Each time
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428 the task is created memory is allocated for the stack and TCB. Each time
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429 the task is deleted this memory is returned to the heap. This task itself
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430 exercises the allocator by allocating and freeing blocks.
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432 The task executes at the idle priority so does not require a delay.
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434 pulMemCheckTaskRunningCounter is incremented each cycle to indicate to the
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435 vErrorChecks() task that this task is still executing without error. */
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437 pulMemCheckTaskRunningCounter = ( unsigned long * ) pvParameters;
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441 if( lErrorOccurred == pdFALSE )
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443 /* We have never seen an error so increment the counter. */
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444 ( *pulMemCheckTaskRunningCounter )++;
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448 /* There has been an error so reset the counter so the check task
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449 can tell that an error occurred. */
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450 *pulMemCheckTaskRunningCounter = mainCOUNT_INITIAL_VALUE;
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453 /* Allocate some memory - just to give the allocator some extra
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454 exercise. This has to be in a critical section to ensure the
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455 task does not get deleted while it has memory allocated. */
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458 pvMem1 = pvPortMalloc( mainMEM_CHECK_SIZE_1 );
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459 if( pvMem1 == NULL )
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461 lErrorOccurred = pdTRUE;
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465 memset( pvMem1, 0xaa, mainMEM_CHECK_SIZE_1 );
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466 vPortFree( pvMem1 );
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471 /* Again - with a different size block. */
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474 pvMem2 = pvPortMalloc( mainMEM_CHECK_SIZE_2 );
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475 if( pvMem2 == NULL )
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477 lErrorOccurred = pdTRUE;
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481 memset( pvMem2, 0xaa, mainMEM_CHECK_SIZE_2 );
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482 vPortFree( pvMem2 );
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487 /* Again - with a different size block. */
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490 pvMem3 = pvPortMalloc( mainMEM_CHECK_SIZE_3 );
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491 if( pvMem3 == NULL )
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493 lErrorOccurred = pdTRUE;
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497 memset( pvMem3, 0xaa, mainMEM_CHECK_SIZE_3 );
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498 vPortFree( pvMem3 );
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