2 FreeRTOS V9.0.0rc2 - Copyright (C) 2016 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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70 /******************************************************************************
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71 * NOTE 1: This project provides two demo applications. A simple blinky
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72 * style project, and a more comprehensive test and demo application. The
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73 * mainSELECTED_APPLICATION setting in main.c is used to select between the two.
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74 * See the notes on using mainSELECTED_APPLICATION in main.c. This file
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75 * implements the comprehensive version.
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77 * NOTE 2: This file only contains the source code that is specific to the
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78 * full demo. Generic functions, such FreeRTOS hook functions, and functions
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79 * required to configure the hardware, are defined in main.c.
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81 * NOTE 3: The full demo includes a test that checks the floating point context
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82 * is maintained correctly across task switches. The standard GCC libraries can
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83 * use floating point registers and made this test fail (unless the tasks that
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84 * use the library are given a floating point context as described on the
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85 * documentation page for this demo).
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87 ******************************************************************************
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89 * main_full() creates all the demo application tasks and software timers, then
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90 * starts the scheduler. The web documentation provides more details of the
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91 * standard demo application tasks, which provide no particular functionality,
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92 * but do provide a good example of how to use the FreeRTOS API.
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94 * In addition to the standard demo tasks, the following tasks and tests are
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95 * defined and/or created within this file:
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97 * "Reg test" tasks - These fill both the core and floating point registers with
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98 * known values, then check that each register maintains its expected value for
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99 * the lifetime of the task. Each task uses a different set of values. The reg
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100 * test tasks execute with a very low priority, so get preempted very
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101 * frequently. A register containing an unexpected value is indicative of an
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102 * error in the context switching mechanism.
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104 * "Check" task - The check task period is initially set to three seconds. The
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105 * task checks that all the standard demo tasks, and the register check tasks,
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106 * are not only still executing, but are executing without reporting any errors.
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107 * If the check task discovers that a task has either stalled, or reported an
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108 * error, then it changes its own execution period from the initial three
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109 * seconds, to just 200ms. The check task also toggles an LED each time it is
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110 * called. This provides a visual indication of the system status: If the LED
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111 * toggles every five seconds, then no issues have been discovered. If the LED
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112 * toggles every 200ms, then an issue has been discovered with at least one
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116 /* Standard includes. */
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119 /* Kernel includes. */
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120 #include "FreeRTOS.h"
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122 #include "timers.h"
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123 #include "semphr.h"
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125 /* Standard demo application includes. */
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127 #include "semtest.h"
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128 #include "dynamic.h"
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129 #include "blocktim.h"
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130 #include "countsem.h"
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131 #include "GenQTest.h"
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132 #include "recmutex.h"
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133 #include "partest.h"
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134 #include "IntQueue.h"
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135 #include "EventGroupsDemo.h"
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136 #include "TaskNotify.h"
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137 #include "IntSemTest.h"
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139 /* Priorities for the demo application tasks. */
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140 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + ( UBaseType_t ) 1 )
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141 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + ( UBaseType_t ) 2 )
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142 #define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + ( UBaseType_t ) 3 )
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143 #define mainFLOP_TASK_PRIORITY ( tskIDLE_PRIORITY )
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144 #define mainUART_COMMAND_CONSOLE_STACK_SIZE ( configMINIMAL_STACK_SIZE * ( UBaseType_t ) 3 )
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145 #define mainCOM_TEST_TASK_PRIORITY ( tskIDLE_PRIORITY + ( UBaseType_t ) 2 )
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146 #define mainCHECK_TASK_PRIORITY ( configMAX_PRIORITIES - ( UBaseType_t ) 1 )
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148 /* The LED used by the check timer. */
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149 #define mainCHECK_LED ( 0 )
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151 /* A block time of zero simply means "don't block". */
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152 #define mainDONT_BLOCK ( ( TickType_t ) 0 )
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154 /* The period after which the check timer will expire, in ms, provided no errors
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155 have been reported by any of the standard demo tasks. ms are converted to the
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156 equivalent in ticks using the portTICK_PERIOD_MS constant. */
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157 #define mainNO_ERROR_CHECK_TASK_PERIOD pdMS_TO_TICKS( ( TickType_t ) 5000 )
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159 /* The period at which the check timer will expire, in ms, if an error has been
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160 reported in one of the standard demo tasks. ms are converted to the equivalent
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161 in ticks using the portTICK_PERIOD_MS constant. */
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162 #define mainERROR_CHECK_TASK_PERIOD pdMS_TO_TICKS( ( TickType_t ) ( 200 ) )
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164 /* Parameters that are passed into the register check tasks solely for the
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165 purpose of ensuring parameters are passed into tasks correctly. */
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166 #define mainREG_TEST_TASK_1_PARAMETER ( ( void * ) 0x12345678 )
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167 #define mainREG_TEST_TASK_2_PARAMETER ( ( void * ) 0x87654321 )
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169 /* The base period used by the timer test tasks. */
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170 #define mainTIMER_TEST_PERIOD ( 50 )
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172 /*-----------------------------------------------------------*/
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176 * The check task, as described at the top of this file.
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178 static void prvCheckTask( void *pvParameters );
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181 * Register check tasks, and the tasks used to write over and check the contents
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182 * of the FPU registers, as described at the top of this file. The nature of
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183 * these files necessitates that they are written in an assembly file, but the
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184 * entry points are kept in the C file for the convenience of checking the task
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187 static void prvRegTestTaskEntry1( void *pvParameters );
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188 extern void vRegTest1Implementation( void );
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189 static void prvRegTestTaskEntry2( void *pvParameters );
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190 extern void vRegTest2Implementation( void );
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193 * Register commands that can be used with FreeRTOS+CLI. The commands are
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194 * defined in CLI-Commands.c and File-Related-CLI-Command.c respectively.
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196 extern void vRegisterSampleCLICommands( void );
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199 * The task that manages the FreeRTOS+CLI input and output.
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201 extern void vUARTCommandConsoleStart( uint16_t usStackSize, UBaseType_t uxPriority );
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204 * A high priority task that does nothing other than execute at a pseudo random
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205 * time to ensure the other test tasks don't just execute in a repeating
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208 static void prvPseudoRandomiser( void *pvParameters );
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210 /*-----------------------------------------------------------*/
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212 /* The following two variables are used to communicate the status of the
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213 register check tasks to the check task. If the variables keep incrementing,
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214 then the register check tasks have not discovered any errors. If a variable
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215 stops incrementing, then an error has been found. */
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216 volatile uint64_t ullRegTest1LoopCounter = 0ULL, ullRegTest2LoopCounter = 0ULL;
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218 /*-----------------------------------------------------------*/
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220 void main_full( void )
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222 /* Start all the other standard demo/test tasks. They have no particular
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223 functionality, but do demonstrate how to use the FreeRTOS API and test the
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225 vStartInterruptQueueTasks();
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226 vStartDynamicPriorityTasks();
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227 vCreateBlockTimeTasks();
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228 vStartCountingSemaphoreTasks();
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229 vStartGenericQueueTasks( tskIDLE_PRIORITY );
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230 vStartRecursiveMutexTasks();
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231 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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232 vStartMathTasks( mainFLOP_TASK_PRIORITY );
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233 vStartEventGroupTasks();
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234 vStartTaskNotifyTask();
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235 vStartInterruptSemaphoreTasks();
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237 /* Create the register check tasks, as described at the top of this file */
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238 xTaskCreate( prvRegTestTaskEntry1, "Reg1", configMINIMAL_STACK_SIZE, mainREG_TEST_TASK_1_PARAMETER, tskIDLE_PRIORITY, NULL );
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239 xTaskCreate( prvRegTestTaskEntry2, "Reg2", configMINIMAL_STACK_SIZE, mainREG_TEST_TASK_2_PARAMETER, tskIDLE_PRIORITY, NULL );
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241 /* Create the task that just adds a little random behaviour. */
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242 xTaskCreate( prvPseudoRandomiser, "Rnd", configMINIMAL_STACK_SIZE, NULL, configMAX_PRIORITIES - 1, NULL );
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244 /* Create the task that performs the 'check' functionality, as described at
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245 the top of this file. */
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246 xTaskCreate( prvCheckTask, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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248 /* Start the scheduler. */
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249 vTaskStartScheduler();
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251 /* If all is well, the scheduler will now be running, and the following
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252 line will never be reached. If the following line does execute, then
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253 there was either insufficient FreeRTOS heap memory available for the idle
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254 and/or timer tasks to be created, or vTaskStartScheduler() was called from
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255 User mode. See the memory management section on the FreeRTOS web site for
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256 more details on the FreeRTOS heap http://www.freertos.org/a00111.html. The
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257 mode from which main() is called is set in the C start up code and must be
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258 a privileged mode (not user mode). */
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261 /*-----------------------------------------------------------*/
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263 static void prvCheckTask( void *pvParameters )
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265 TickType_t xDelayPeriod = mainNO_ERROR_CHECK_TASK_PERIOD;
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266 TickType_t xLastExecutionTime;
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267 static uint64_t ullLastRegTest1Value = 0, ullLastRegTest2Value = 0;
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268 uint64_t ullErrorFound = pdFALSE;
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270 /* Just to stop compiler warnings. */
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271 ( void ) pvParameters;
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273 /* Initialise xLastExecutionTime so the first call to vTaskDelayUntil()
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274 works correctly. */
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275 xLastExecutionTime = xTaskGetTickCount();
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277 /* Cycle for ever, delaying then checking all the other tasks are still
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278 operating without error. The onboard LED is toggled on each iteration.
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279 If an error is detected then the delay period is decreased from
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280 mainNO_ERROR_CHECK_TASK_PERIOD to mainERROR_CHECK_TASK_PERIOD. This has the
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281 effect of increasing the rate at which the onboard LED toggles, and in so
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282 doing gives visual feedback of the system status. */
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285 /* Delay until it is time to execute again. */
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286 vTaskDelayUntil( &xLastExecutionTime, xDelayPeriod );
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288 /* Check all the demo tasks (other than the flash tasks) to ensure
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289 that they are all still running, and that none have detected an error. */
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290 if( xAreIntQueueTasksStillRunning() != pdTRUE )
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292 ullErrorFound |= 1ULL << 0ULL;
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295 if( xAreMathsTaskStillRunning() != pdTRUE )
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297 ullErrorFound |= 1ULL << 1ULL;
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300 if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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302 ullErrorFound |= 1ULL << 2ULL;
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305 if ( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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307 ullErrorFound |= 1ULL << 4ULL;
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310 if ( xAreGenericQueueTasksStillRunning() != pdTRUE )
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312 ullErrorFound |= 1ULL << 5ULL;
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315 if ( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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317 ullErrorFound |= 1ULL << 6ULL;
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320 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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322 ullErrorFound |= 1ULL << 8ULL;
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325 if( xAreCountingSemaphoreTasksStillRunning() != pdTRUE )
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327 ullErrorFound |= 1ULL << 10ULL;
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330 if( xAreEventGroupTasksStillRunning() != pdPASS )
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332 ullErrorFound |= 1ULL << 12ULL;
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335 if( xAreTaskNotificationTasksStillRunning() != pdTRUE )
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337 ullErrorFound |= 1ULL << 13ULL;
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340 if( xAreInterruptSemaphoreTasksStillRunning() != pdTRUE )
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342 ullErrorFound |= 1ULL << 14ULL;
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345 /* Check that the register test 1 task is still running. */
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346 if( ullLastRegTest1Value == ullRegTest1LoopCounter )
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348 ullErrorFound |= 1ULL << 15ULL;
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350 ullLastRegTest1Value = ullRegTest1LoopCounter;
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352 /* Check that the register test 2 task is still running. */
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353 if( ullLastRegTest2Value == ullRegTest2LoopCounter )
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355 ullErrorFound |= 1ULL << 16ULL;
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357 ullLastRegTest2Value = ullRegTest2LoopCounter;
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359 /* Toggle the check LED to give an indication of the system status. If
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360 the LED toggles every mainNO_ERROR_CHECK_TASK_PERIOD milliseconds then
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361 everything is ok. A faster toggle indicates an error. */
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362 vParTestToggleLED( mainCHECK_LED );
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364 if( ullErrorFound != pdFALSE )
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366 /* An error has been detected in one of the tasks - flash the LED
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367 at a higher frequency to give visible feedback that something has
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368 gone wrong (it might just be that the loop back connector required
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369 by the comtest tasks has not been fitted). */
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370 xDelayPeriod = mainERROR_CHECK_TASK_PERIOD;
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373 configASSERT( ullErrorFound == pdFALSE );
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376 /*-----------------------------------------------------------*/
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378 static void prvRegTestTaskEntry1( void *pvParameters )
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380 /* Although the regtest task is written in assembler, its entry point is
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381 written in C for convenience of checking the task parameter is being passed
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383 if( pvParameters == mainREG_TEST_TASK_1_PARAMETER )
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385 /* The reg test task also tests the floating point registers. Tasks
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386 that use the floating point unit must call vPortTaskUsesFPU() before
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387 any floating point instructions are executed. */
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388 vPortTaskUsesFPU();
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390 /* Start the part of the test that is written in assembler. */
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391 vRegTest1Implementation();
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394 /* The following line will only execute if the task parameter is found to
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395 be incorrect. The check timer will detect that the regtest loop counter is
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396 not being incremented and flag an error. */
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397 vTaskDelete( NULL );
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399 /*-----------------------------------------------------------*/
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401 static void prvRegTestTaskEntry2( void *pvParameters )
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403 /* Although the regtest task is written in assembler, its entry point is
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404 written in C for convenience of checking the task parameter is being passed
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406 if( pvParameters == mainREG_TEST_TASK_2_PARAMETER )
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408 /* The reg test task also tests the floating point registers. Tasks
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409 that use the floating point unit must call vPortTaskUsesFPU() before
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410 any floating point instructions are executed. */
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411 vPortTaskUsesFPU();
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413 /* Start the part of the test that is written in assembler. */
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414 vRegTest2Implementation();
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417 /* The following line will only execute if the task parameter is found to
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418 be incorrect. The check timer will detect that the regtest loop counter is
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419 not being incremented and flag an error. */
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420 vTaskDelete( NULL );
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422 /*-----------------------------------------------------------*/
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424 static void prvPseudoRandomiser( void *pvParameters )
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426 const uint64_t ullMultiplier = 0x015a4e35ULL, ullIncrement = 1ULL, ullMinDelay = pdMS_TO_TICKS( 95 );
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427 volatile uint64_t ullNextRand = ( uint64_t ) &pvParameters, ullValue;
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429 /* This task does nothing other than ensure there is a little bit of
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430 disruption in the scheduling pattern of the other tasks. Normally this is
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431 done by generating interrupts at pseudo random times. */
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434 ullNextRand = ( ullMultiplier * ullNextRand ) + ullIncrement;
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435 ullValue = ( ullNextRand >> 16ULL ) & 0xffULL;
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437 if( ullValue < ullMinDelay )
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439 ullValue = ullMinDelay;
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442 vTaskDelay( ullValue );
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444 while( ullValue > 0 )
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446 __asm volatile( "NOP" );
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447 __asm volatile( "NOP" );
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448 __asm volatile( "NOP" );
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449 __asm volatile( "NOP" );
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