1 /*This file has been prepared for Doxygen automatic documentation generation.*/
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2 /*! \file *********************************************************************
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4 * \brief FreeRTOS Real Time Kernel example.
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6 * Creates all the demo application tasks, then starts the scheduler. The WEB
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7 * documentation provides more details of the demo application tasks.
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9 * Main. c also creates a task called "Check". This only executes every three
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10 * seconds but has the highest priority so is guaranteed to get processor time.
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11 * Its main function is to check that all the other tasks are still operational.
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12 * Each task that does not flash an LED maintains a unique count that is
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13 * incremented each time the task successfully completes its function. Should
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14 * any error occur within such a task the count is permanently halted. The
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15 * check task inspects the count of each task to ensure it has changed since
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16 * the last time the check task executed. If all the count variables have
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17 * changed all the tasks are still executing error free, and the check task
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18 * toggles an LED. Should any task contain an error at any time the LED toggle
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21 * The LED flash and communications test tasks do not maintain a count.
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23 * - Compiler: IAR EWAVR32 and GNU GCC for AVR32
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24 * - Supported devices: All AVR32 devices with GPIO.
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27 * \author Atmel Corporation: http://www.atmel.com \n
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28 * Support and FAQ: http://support.atmel.no/
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30 *****************************************************************************/
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33 FreeRTOS V8.1.1 - Copyright (C) 2014 Real Time Engineers Ltd.
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36 VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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38 ***************************************************************************
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40 * FreeRTOS provides completely free yet professionally developed, *
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41 * robust, strictly quality controlled, supported, and cross *
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42 * platform software that has become a de facto standard. *
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44 * Help yourself get started quickly and support the FreeRTOS *
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45 * project by purchasing a FreeRTOS tutorial book, reference *
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46 * manual, or both from: http://www.FreeRTOS.org/Documentation *
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50 ***************************************************************************
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52 This file is part of the FreeRTOS distribution.
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54 FreeRTOS is free software; you can redistribute it and/or modify it under
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55 the terms of the GNU General Public License (version 2) as published by the
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56 Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
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58 >>! NOTE: The modification to the GPL is included to allow you to !<<
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59 >>! distribute a combined work that includes FreeRTOS without being !<<
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60 >>! obliged to provide the source code for proprietary components !<<
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61 >>! outside of the FreeRTOS kernel. !<<
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63 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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64 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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65 FOR A PARTICULAR PURPOSE. Full license text is available from the following
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66 link: http://www.freertos.org/a00114.html
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70 ***************************************************************************
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72 * Having a problem? Start by reading the FAQ "My application does *
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73 * not run, what could be wrong?" *
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75 * http://www.FreeRTOS.org/FAQHelp.html *
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77 ***************************************************************************
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79 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
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80 license and Real Time Engineers Ltd. contact details.
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82 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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83 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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84 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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86 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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87 Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS
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88 licenses offer ticketed support, indemnification and middleware.
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90 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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91 engineered and independently SIL3 certified version for use in safety and
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92 mission critical applications that require provable dependability.
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100 #include <string.h>
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102 /* Environment header files. */
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105 /* Scheduler header files. */
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106 #include "FreeRTOS.h"
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109 /* Demo file headers. */
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110 #include "partest.h"
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111 #include "serial.h"
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112 #include "integer.h"
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113 #include "comtest.h"
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116 #include "semtest.h"
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117 #include "dynamic.h"
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118 #include "BlockQ.h"
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122 /*! \name Priority definitions for most of the tasks in the demo application.
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123 * Some tasks just use the idle priority.
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126 #define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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127 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
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128 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
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129 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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130 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 3 )
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131 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 4 )
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132 #define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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135 //! Baud rate used by the serial port tasks.
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136 #define mainCOM_TEST_BAUD_RATE ( ( unsigned long ) 57600 )
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138 //! LED used by the serial port tasks. This is toggled on each character Tx,
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139 //! and mainCOM_TEST_LED + 1 is toggled on each character Rx.
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140 #define mainCOM_TEST_LED ( 3 )
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142 //! LED that is toggled by the check task. The check task periodically checks
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143 //! that all the other tasks are operating without error. If no errors are found
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144 //! the LED is toggled. If an error is found at any time the LED toggles faster.
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145 #define mainCHECK_TASK_LED ( 6 )
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147 //! LED that is set upon error.
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148 #define mainERROR_LED ( 7 )
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150 //! The period between executions of the check task.
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151 #define mainCHECK_PERIOD ( ( TickType_t ) 3000 / portTICK_PERIOD_MS )
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153 //! If an error is detected in a task, the vErrorChecks task will enter in an
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154 //! infinite loop flashing the LED at this rate.
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155 #define mainERROR_FLASH_RATE ( (TickType_t) 500 / portTICK_PERIOD_MS )
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157 /*! \name Constants used by the vMemCheckTask() task.
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160 #define mainCOUNT_INITIAL_VALUE ( ( unsigned long ) 0 )
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161 #define mainNO_TASK ( 0 )
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164 /*! \name The size of the memory blocks allocated by the vMemCheckTask() task.
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167 #define mainMEM_CHECK_SIZE_1 ( ( size_t ) 51 )
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168 #define mainMEM_CHECK_SIZE_2 ( ( size_t ) 52 )
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169 #define mainMEM_CHECK_SIZE_3 ( ( size_t ) 15 )
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173 /*-----------------------------------------------------------*/
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176 * The task that executes at the highest priority and calls
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177 * prvCheckOtherTasksAreStillRunning(). See the description at the top
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180 static void vErrorChecks( void *pvParameters );
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183 * Checks that all the demo application tasks are still executing without error
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184 * - as described at the top of the file.
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186 static portBASE_TYPE prvCheckOtherTasksAreStillRunning( void );
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189 * A task that exercises the memory allocator.
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191 static void vMemCheckTask( void *pvParameters );
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194 * Called by the check task following the detection of an error to set the
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195 * LEDs into a state that shows an error has beeen found.
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197 static void prvIndicateError( void );
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199 /*-----------------------------------------------------------*/
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203 /* Start the crystal oscillator 0 and switch the main clock to it. */
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204 pm_switch_to_osc0(&AVR32_PM, FOSC0, OSC0_STARTUP);
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206 portDBG_TRACE("Starting the FreeRTOS AVR32 UC3 Demo...");
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208 /* Setup the LED's for output. */
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209 vParTestInitialise();
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211 /* Start the standard demo tasks. See the WEB documentation for more
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213 vStartLEDFlashTasks( mainLED_TASK_PRIORITY );
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214 vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
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215 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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216 vStartIntegerMathTasks( tskIDLE_PRIORITY );
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217 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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218 vStartDynamicPriorityTasks();
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219 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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220 vStartMathTasks( tskIDLE_PRIORITY );
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222 /* Start the demo tasks defined within this file, specifically the check
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223 task as described at the top of this file. */
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227 , configMINIMAL_STACK_SIZE
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229 , mainCHECK_TASK_PRIORITY
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232 /* Start the scheduler. */
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233 vTaskStartScheduler();
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235 /* Will only get here if there was insufficient memory to create the idle
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240 /*-----------------------------------------------------------*/
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243 * \brief The task function for the "Check" task.
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245 static void vErrorChecks( void *pvParameters )
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247 static volatile unsigned long ulDummyVariable = 3UL;
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248 unsigned long ulMemCheckTaskRunningCount;
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249 TaskHandle_t xCreatedTask;
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250 portBASE_TYPE bSuicidalTask = 0;
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252 /* The parameters are not used. Prevent compiler warnings. */
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253 ( void ) pvParameters;
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255 /* Cycle for ever, delaying then checking all the other tasks are still
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256 operating without error.
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258 In addition to the standard tests the memory allocator is tested through
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259 the dynamic creation and deletion of a task each cycle. Each time the
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260 task is created memory must be allocated for its stack. When the task is
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261 deleted this memory is returned to the heap. If the task cannot be created
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262 then it is likely that the memory allocation failed. */
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266 /* Do this only once. */
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267 if( bSuicidalTask == 0 )
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271 /* This task has to be created last as it keeps account of the number of
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272 tasks it expects to see running. However its implementation expects
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273 to be called before vTaskStartScheduler(). We're in the case here where
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274 vTaskStartScheduler() has already been called (thus the hidden IDLE task
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275 has already been spawned). Since vCreateSuicidalTask() supposes that the
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276 IDLE task isn't included in the response from uxTaskGetNumberOfTasks(),
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277 let the MEM_CHECK task play that role. => this is why vCreateSuicidalTasks()
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278 is not called as the last task. */
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279 vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
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282 /* Reset xCreatedTask. This is modified by the task about to be
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283 created so we can tell if it is executing correctly or not. */
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284 xCreatedTask = mainNO_TASK;
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286 /* Dynamically create a task - passing ulMemCheckTaskRunningCount as a
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288 ulMemCheckTaskRunningCount = mainCOUNT_INITIAL_VALUE;
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290 if( xTaskCreate( vMemCheckTask,
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292 configMINIMAL_STACK_SIZE,
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293 ( void * ) &ulMemCheckTaskRunningCount,
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294 tskIDLE_PRIORITY, &xCreatedTask ) != pdPASS )
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296 /* Could not create the task - we have probably run out of heap.
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297 Don't go any further and flash the LED faster to provide visual
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298 feedback of the error. */
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299 prvIndicateError();
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302 /* Delay until it is time to execute again. */
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303 vTaskDelay( mainCHECK_PERIOD );
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305 /* Delete the dynamically created task. */
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306 if( xCreatedTask != mainNO_TASK )
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308 vTaskDelete( xCreatedTask );
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311 /* Perform a bit of 32bit maths to ensure the registers used by the
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312 integer tasks get some exercise. The result here is not important -
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313 see the demo application documentation for more info. */
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314 ulDummyVariable *= 3;
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316 /* Check all other tasks are still operating without error.
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317 Check that vMemCheckTask did increment the counter. */
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318 if( ( prvCheckOtherTasksAreStillRunning() != pdFALSE )
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319 || ( ulMemCheckTaskRunningCount == mainCOUNT_INITIAL_VALUE ) )
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321 /* An error has occurred in one of the tasks.
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322 Don't go any further and flash the LED faster to give visual
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323 feedback of the error. */
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324 prvIndicateError();
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328 /* Toggle the LED if everything is okay. */
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329 vParTestToggleLED( mainCHECK_TASK_LED );
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333 /*-----------------------------------------------------------*/
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337 * \brief Checks that all the demo application tasks are still executing without error.
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339 static portBASE_TYPE prvCheckOtherTasksAreStillRunning( void )
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341 static portBASE_TYPE xErrorHasOccurred = pdFALSE;
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343 if( xAreComTestTasksStillRunning() != pdTRUE )
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345 xErrorHasOccurred = pdTRUE;
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348 if( xArePollingQueuesStillRunning() != pdTRUE )
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350 xErrorHasOccurred = pdTRUE;
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353 if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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355 xErrorHasOccurred = pdTRUE;
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358 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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360 xErrorHasOccurred = pdTRUE;
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363 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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365 xErrorHasOccurred = pdTRUE;
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368 if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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370 xErrorHasOccurred = pdTRUE;
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373 if( xAreMathsTaskStillRunning() != pdTRUE )
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375 xErrorHasOccurred = pdTRUE;
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378 if( xIsCreateTaskStillRunning() != pdTRUE )
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380 xErrorHasOccurred = pdTRUE;
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383 return ( xErrorHasOccurred );
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385 /*-----------------------------------------------------------*/
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389 * \brief Dynamically created and deleted during each cycle of the vErrorChecks()
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390 * task. This is done to check the operation of the memory allocator.
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391 * See the top of vErrorChecks for more details.
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393 * \param *pvParameters Parameters for the task (can be of any kind)
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395 static void vMemCheckTask( void *pvParameters )
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397 unsigned long *pulMemCheckTaskRunningCounter;
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398 void *pvMem1, *pvMem2, *pvMem3;
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399 static long lErrorOccurred = pdFALSE;
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401 /* This task is dynamically created then deleted during each cycle of the
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402 vErrorChecks task to check the operation of the memory allocator. Each time
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403 the task is created memory is allocated for the stack and TCB. Each time
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404 the task is deleted this memory is returned to the heap. This task itself
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405 exercises the allocator by allocating and freeing blocks.
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407 The task executes at the idle priority so does not require a delay.
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409 pulMemCheckTaskRunningCounter is incremented each cycle to indicate to the
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410 vErrorChecks() task that this task is still executing without error. */
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412 pulMemCheckTaskRunningCounter = ( unsigned long * ) pvParameters;
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416 if( lErrorOccurred == pdFALSE )
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418 /* We have never seen an error so increment the counter. */
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419 ( *pulMemCheckTaskRunningCounter )++;
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423 /* There has been an error so reset the counter so the check task
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424 can tell that an error occurred. */
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425 *pulMemCheckTaskRunningCounter = mainCOUNT_INITIAL_VALUE;
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428 /* Allocate some memory - just to give the allocator some extra
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429 exercise. This has to be in a critical section to ensure the
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430 task does not get deleted while it has memory allocated. */
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434 pvMem1 = pvPortMalloc( mainMEM_CHECK_SIZE_1 );
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436 if( pvMem1 == NULL )
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438 lErrorOccurred = pdTRUE;
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442 memset( pvMem1, 0xaa, mainMEM_CHECK_SIZE_1 );
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443 vPortFree( pvMem1 );
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448 /* Again - with a different size block. */
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451 pvMem2 = pvPortMalloc( mainMEM_CHECK_SIZE_2 );
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453 if( pvMem2 == NULL )
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455 lErrorOccurred = pdTRUE;
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459 memset( pvMem2, 0xaa, mainMEM_CHECK_SIZE_2 );
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460 vPortFree( pvMem2 );
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465 /* Again - with a different size block. */
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468 pvMem3 = pvPortMalloc( mainMEM_CHECK_SIZE_3 );
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469 if( pvMem3 == NULL )
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471 lErrorOccurred = pdTRUE;
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475 memset( pvMem3, 0xaa, mainMEM_CHECK_SIZE_3 );
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476 vPortFree( pvMem3 );
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482 /*-----------------------------------------------------------*/
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484 static void prvIndicateError( void )
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486 /* The check task has found an error in one of the other tasks.
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487 Set the LEDs to a state that indicates this. */
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488 vParTestSetLED(mainERROR_LED,pdTRUE);
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492 #if( BOARD==EVK1100 )
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493 vParTestToggleLED( mainCHECK_TASK_LED );
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494 vTaskDelay( mainERROR_FLASH_RATE );
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496 #if ( BOARD==EVK1101 )
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497 vParTestSetLED( 0, pdTRUE );
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498 vParTestSetLED( 1, pdTRUE );
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499 vParTestSetLED( 2, pdTRUE );
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500 vParTestSetLED( 3, pdTRUE );
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