2 FreeRTOS V8.2.1 - Copyright (C) 2015 Real Time Engineers Ltd.
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5 VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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7 This file is part of the FreeRTOS distribution.
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9 FreeRTOS is free software; you can redistribute it and/or modify it under
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10 the terms of the GNU General Public License (version 2) as published by the
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11 Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
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13 ***************************************************************************
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14 >>! NOTE: The modification to the GPL is included to allow you to !<<
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15 >>! distribute a combined work that includes FreeRTOS without being !<<
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16 >>! obliged to provide the source code for proprietary components !<<
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17 >>! outside of the FreeRTOS kernel. !<<
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18 ***************************************************************************
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20 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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21 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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22 FOR A PARTICULAR PURPOSE. Full license text is available on the following
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23 link: http://www.freertos.org/a00114.html
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25 ***************************************************************************
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27 * FreeRTOS provides completely free yet professionally developed, *
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28 * robust, strictly quality controlled, supported, and cross *
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29 * platform software that is more than just the market leader, it *
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30 * is the industry's de facto standard. *
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32 * Help yourself get started quickly while simultaneously helping *
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33 * to support the FreeRTOS project by purchasing a FreeRTOS *
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34 * tutorial book, reference manual, or both: *
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35 * http://www.FreeRTOS.org/Documentation *
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37 ***************************************************************************
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39 http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
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40 the FAQ page "My application does not run, what could be wrong?". Have you
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41 defined configASSERT()?
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43 http://www.FreeRTOS.org/support - In return for receiving this top quality
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44 embedded software for free we request you assist our global community by
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45 participating in the support forum.
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47 http://www.FreeRTOS.org/training - Investing in training allows your team to
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48 be as productive as possible as early as possible. Now you can receive
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49 FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
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50 Ltd, and the world's leading authority on the world's leading RTOS.
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52 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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53 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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54 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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56 http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
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57 Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
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59 http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
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60 Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
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61 licenses offer ticketed support, indemnification and commercial middleware.
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63 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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64 engineered and independently SIL3 certified version for use in safety and
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65 mission critical applications that require provable dependability.
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71 NOTE : Tasks run in system mode and the scheduler runs in Supervisor mode.
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72 The processor MUST be in supervisor mode when vTaskStartScheduler is
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73 called. The demo applications included in the FreeRTOS.org download switch
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74 to supervisor mode prior to main being called. If you are not using one of
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75 these demo application projects then ensure Supervisor mode is used.
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80 * Creates all the demo application tasks, then starts the scheduler. The WEB
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81 * documentation provides more details of the demo application tasks.
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83 * Main.c also creates a task called "Check". This only executes every three
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84 * seconds but has the highest priority so is guaranteed to get processor time.
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85 * Its main function is to check that all the other tasks are still operational.
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86 * Each task (other than the "flash" tasks) maintains a unique count that is
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87 * incremented each time the task successfully completes its function. Should
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88 * any error occur within such a task the count is permanently halted. The
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89 * check task inspects the count of each task to ensure it has changed since
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90 * the last time the check task executed. If all the count variables have
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91 * changed all the tasks are still executing error free, and the check task
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92 * toggles the onboard LED. Should any task contain an error at any time
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93 * the LED toggle rate will change from 3 seconds to 500ms.
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95 * To check the operation of the memory allocator the check task also
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96 * dynamically creates a task before delaying, and deletes it again when it
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97 * wakes. If memory cannot be allocated for the new task the call to xTaskCreate
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98 * will fail and an error is signalled. The dynamically created task itself
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99 * allocates and frees memory just to give the allocator a bit more exercise.
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103 /* Standard includes. */
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104 #include <stdlib.h>
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105 #include <string.h>
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107 /* Scheduler includes. */
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108 #include "FreeRTOS.h"
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111 /* Demo application includes. */
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112 #include "partest.h"
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114 #include "integer.h"
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116 #include "comtest2.h"
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117 #include "semtest.h"
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119 #include "dynamic.h"
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120 #include "BlockQ.h"
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121 #include "serial.h"
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123 /* Hardware specific definitions. */
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127 /*-----------------------------------------------------------*/
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129 /* Constants for the ComTest tasks. */
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130 #define mainCOM_TEST_BAUD_RATE ( ( unsigned long ) 115200 )
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131 #define mainCOM_TEST_LED ( 5 )
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133 /* Priorities for the demo application tasks. */
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134 #define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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135 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
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136 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
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137 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 4 )
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138 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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139 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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141 /* The rate at which the on board LED will toggle when there is/is not an
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143 #define mainNO_ERROR_FLASH_PERIOD ( ( TickType_t ) 3000 / portTICK_PERIOD_MS )
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144 #define mainERROR_FLASH_PERIOD ( ( TickType_t ) 500 / portTICK_PERIOD_MS )
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145 #define mainON_BOARD_LED_BIT ( ( unsigned long ) 7 )
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147 /* Constants used by the vMemCheckTask() task. */
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148 #define mainCOUNT_INITIAL_VALUE ( ( unsigned long ) 0 )
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149 #define mainNO_TASK ( 0 )
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151 /* The size of the memory blocks allocated by the vMemCheckTask() task. */
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152 #define mainMEM_CHECK_SIZE_1 ( ( size_t ) 51 )
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153 #define mainMEM_CHECK_SIZE_2 ( ( size_t ) 52 )
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154 #define mainMEM_CHECK_SIZE_3 ( ( size_t ) 151 )
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156 #define MAX_WAIT_STATES 8
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157 static const unsigned long ululCSRWaitValues[ MAX_WAIT_STATES + 1 ] =
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159 WaitState1,/* There is no "zero wait state" value, so use one wait state */
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169 /*-----------------------------------------------------------*/
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172 * Checks that all the demo application tasks are still executing without error
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173 * - as described at the top of the file.
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175 static long prvCheckOtherTasksAreStillRunning( unsigned long ulMemCheckTaskCount );
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178 * The task that executes at the highest priority and calls
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179 * prvCheckOtherTasksAreStillRunning(). See the description at the top
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182 static void vErrorChecks( void *pvParameters );
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185 * Dynamically created and deleted during each cycle of the vErrorChecks()
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186 * task. This is done to check the operation of the memory allocator.
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187 * See the top of vErrorChecks for more details.
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189 static void vMemCheckTask( void *pvParameters );
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192 * Configure the processor for use with the Olimex demo board. This includes
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193 * setup for the I/O, system clock, and access timings.
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195 static void prvSetupHardware( void );
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197 /*-----------------------------------------------------------*/
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200 * Starts all the other tasks, then starts the scheduler.
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204 /* Setup the hardware for use with the Olimex demo board. */
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205 prvSetupHardware();
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207 /* Start the demo/test application tasks. */
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208 vStartIntegerMathTasks( tskIDLE_PRIORITY );
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209 vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
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210 vStartLEDFlashTasks( mainLED_TASK_PRIORITY );
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211 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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212 vStartMathTasks( tskIDLE_PRIORITY );
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213 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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214 vStartDynamicPriorityTasks();
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215 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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217 /* Start the check task - which is defined in this file. */
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218 xTaskCreate( vErrorChecks, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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220 /* Now all the tasks have been started - start the scheduler.
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222 NOTE : Tasks run in system mode and the scheduler runs in Supervisor mode.
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223 The processor MUST be in supervisor mode when vTaskStartScheduler is
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224 called. The demo applications included in the FreeRTOS.org download switch
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225 to supervisor mode prior to main being called. If you are not using one of
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226 these demo application projects then ensure Supervisor mode is used here. */
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227 vTaskStartScheduler();
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229 /* Should never reach here! */
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232 /*-----------------------------------------------------------*/
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234 static void vErrorChecks( void *pvParameters )
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236 TickType_t xDelayPeriod = mainNO_ERROR_FLASH_PERIOD;
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237 unsigned long ulMemCheckTaskRunningCount;
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238 TaskHandle_t xCreatedTask;
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240 /* Just to stop compiler warnings. */
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241 ( void ) pvParameters;
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243 /* Cycle for ever, delaying then checking all the other tasks are still
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244 operating without error. If an error is detected then the delay period
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245 is decreased from mainNO_ERROR_FLASH_PERIOD to mainERROR_FLASH_PERIOD so
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246 the on board LED flash rate will increase.
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248 In addition to the standard tests the memory allocator is tested through
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249 the dynamic creation and deletion of a task each cycle. Each time the
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250 task is created memory must be allocated for its stack. When the task is
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251 deleted this memory is returned to the heap. If the task cannot be created
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252 then it is likely that the memory allocation failed. */
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256 /* Reset xCreatedTask. This is modified by the task about to be
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257 created so we can tell if it is executing correctly or not. */
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258 xCreatedTask = mainNO_TASK;
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260 /* Dynamically create a task - passing ulMemCheckTaskRunningCount as a
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262 ulMemCheckTaskRunningCount = mainCOUNT_INITIAL_VALUE;
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263 if( xTaskCreate( vMemCheckTask, "MEM_CHECK", configMINIMAL_STACK_SIZE, ( void * ) &ulMemCheckTaskRunningCount, tskIDLE_PRIORITY, &xCreatedTask ) != pdPASS )
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265 /* Could not create the task - we have probably run out of heap. */
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266 xDelayPeriod = mainERROR_FLASH_PERIOD;
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269 /* Delay until it is time to execute again. */
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270 vTaskDelay( xDelayPeriod );
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272 /* Delete the dynamically created task. */
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273 if( xCreatedTask != mainNO_TASK )
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275 vTaskDelete( xCreatedTask );
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278 /* Check all the standard demo application tasks are executing without
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279 error. ulMemCheckTaskRunningCount is checked to ensure it was
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280 modified by the task just deleted. */
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281 if( prvCheckOtherTasksAreStillRunning( ulMemCheckTaskRunningCount ) != pdPASS )
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283 /* An error has been detected in one of the tasks - flash faster. */
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284 xDelayPeriod = mainERROR_FLASH_PERIOD;
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287 /* The toggle rate of the LED depends on how long this task delays for.
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288 An error reduces the delay period and so increases the toggle rate. */
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289 vParTestToggleLED( mainON_BOARD_LED_BIT );
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292 /*-----------------------------------------------------------*/
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294 static void prvSetupHardware( void )
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298 #ifdef RUN_FROM_ROM
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300 portFLOAT nsecsPerClockTick;
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301 long lNumWaitStates;
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302 unsigned long ulCSRWaitValue;
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304 /* We are compiling to run from ROM (either on-chip or off-chip flash).
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305 Leave the RAM/flash mapped the way they are on reset
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306 (flash @ 0x00000000, RAM @ 0x00300000), and set up the
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307 proper flash wait states (starts out at the maximum number
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308 of wait states on reset, so we should be able to reduce it).
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309 Most of this code will probably get removed by the compiler
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310 if optimization is enabled, since these calculations are
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311 based on constants. But the compiler should still produce
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312 a correct wait state register value. */
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313 nsecsPerClockTick = ( portFLOAT ) 1000000000 / configCPU_CLOCK_HZ;
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314 lNumWaitStates = ( long )( ( configFLASH_SPEED_NSEC / nsecsPerClockTick ) + 0.5 ) - 1;
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316 if( lNumWaitStates < 0 )
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318 lNumWaitStates = 0;
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321 if( lNumWaitStates > MAX_WAIT_STATES )
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323 lNumWaitStates = MAX_WAIT_STATES;
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326 ulCSRWaitValue = ululCSRWaitValues[ lNumWaitStates ];
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327 ulCSRWaitValue = WaitState5;
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329 AT91C_BASE_EBI->EBI_CSR[ 0 ] = ulCSRWaitValue | DataBus16 | WaitStateEnable
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330 | PageSize1M | tDF_0cycle
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331 | ByteWriteAccessType | CSEnable
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332 | 0x00000000 /* Base Address */;
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334 #else /* else we are compiling to run from on-chip RAM */
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336 /* If compiling to run from RAM, we expect the on-chip RAM to already
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337 be mapped at 0x00000000. This is typically done with an initialization
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338 script for the JTAG emulator you are using to download and run the
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339 demo application. So there is nothing to do here in this case. */
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343 /* Disable all interrupts at the AIC level initially... */
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344 AT91C_BASE_AIC->AIC_IDCR = 0xFFFFFFFF;
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346 /* Set all SVR and SMR entries to default values (start with a clean slate)... */
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347 for( lCount = 0; lCount < 32; lCount++ )
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349 AT91C_BASE_AIC->AIC_SVR[ lCount ] = (unsigned long) 0;
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350 AT91C_BASE_AIC->AIC_SMR[ lCount ] = AIC_SRCTYPE_INT_EDGE_TRIGGERED;
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353 /* Disable clocks to all peripherals initially... */
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354 AT91C_BASE_PS->PS_PCDR = 0xFFFFFFFF;
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356 /* Clear all interrupts at the AIC level initially... */
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357 AT91C_BASE_AIC->AIC_ICCR = 0xFFFFFFFF;
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359 /* Perform 8 "End Of Interrupt" cmds to make sure AIC will not Lock out
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361 for( lCount = 0; lCount < 8; lCount++ )
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363 AT91C_BASE_AIC->AIC_EOICR = 0;
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366 /* Initialise LED outputs. */
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367 vParTestInitialise();
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369 /*-----------------------------------------------------------*/
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371 static long prvCheckOtherTasksAreStillRunning( unsigned long ulMemCheckTaskCount )
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373 long lReturn = ( long ) pdPASS;
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375 /* Check all the demo tasks (other than the flash tasks) to ensure
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376 that they are all still running, and that none of them have detected
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379 if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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381 lReturn = ( long ) pdFAIL;
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384 if( xAreComTestTasksStillRunning() != pdTRUE )
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386 lReturn = ( long ) pdFAIL;
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389 if( xArePollingQueuesStillRunning() != pdTRUE )
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391 lReturn = ( long ) pdFAIL;
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394 if( xAreMathsTaskStillRunning() != pdTRUE )
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396 lReturn = ( long ) pdFAIL;
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399 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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401 lReturn = ( long ) pdFAIL;
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404 if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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406 lReturn = ( long ) pdFAIL;
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409 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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411 lReturn = ( long ) pdFAIL;
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414 if( ulMemCheckTaskCount == mainCOUNT_INITIAL_VALUE )
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416 /* The vMemCheckTask did not increment the counter - it must
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418 lReturn = ( long ) pdFAIL;
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423 /*-----------------------------------------------------------*/
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425 static void vMemCheckTask( void *pvParameters )
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427 unsigned long *pulMemCheckTaskRunningCounter;
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428 void *pvMem1, *pvMem2, *pvMem3;
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429 static long lErrorOccurred = pdFALSE;
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431 /* This task is dynamically created then deleted during each cycle of the
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432 vErrorChecks task to check the operation of the memory allocator. Each time
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433 the task is created memory is allocated for the stack and TCB. Each time
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434 the task is deleted this memory is returned to the heap. This task itself
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435 exercises the allocator by allocating and freeing blocks.
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437 The task executes at the idle priority so does not require a delay.
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439 pulMemCheckTaskRunningCounter is incremented each cycle to indicate to the
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440 vErrorChecks() task that this task is still executing without error. */
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442 pulMemCheckTaskRunningCounter = ( unsigned long * ) pvParameters;
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446 if( lErrorOccurred == pdFALSE )
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448 /* We have never seen an error so increment the counter. */
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449 ( *pulMemCheckTaskRunningCounter )++;
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453 /* There has been an error so reset the counter so the check task
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454 can tell that an error occurred. */
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455 *pulMemCheckTaskRunningCounter = mainCOUNT_INITIAL_VALUE;
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458 /* Allocate some memory - just to give the allocator some extra
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459 exercise. This has to be in a critical section to ensure the
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460 task does not get deleted while it has memory allocated. */
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463 pvMem1 = pvPortMalloc( mainMEM_CHECK_SIZE_1 );
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464 if( pvMem1 == NULL )
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466 lErrorOccurred = pdTRUE;
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470 memset( pvMem1, 0xaa, mainMEM_CHECK_SIZE_1 );
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471 vPortFree( pvMem1 );
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476 /* Again - with a different size block. */
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479 pvMem2 = pvPortMalloc( mainMEM_CHECK_SIZE_2 );
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480 if( pvMem2 == NULL )
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482 lErrorOccurred = pdTRUE;
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486 memset( pvMem2, 0xaa, mainMEM_CHECK_SIZE_2 );
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487 vPortFree( pvMem2 );
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492 /* Again - with a different size block. */
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495 pvMem3 = pvPortMalloc( mainMEM_CHECK_SIZE_3 );
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496 if( pvMem3 == NULL )
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498 lErrorOccurred = pdTRUE;
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502 memset( pvMem3, 0xaa, mainMEM_CHECK_SIZE_3 );
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503 vPortFree( pvMem3 );
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