2 * FreeRTOS Kernel V10.1.1
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3 * Copyright (C) 2018 Amazon.com, Inc. or its affiliates. All Rights Reserved.
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5 * Permission is hereby granted, free of charge, to any person obtaining a copy of
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6 * this software and associated documentation files (the "Software"), to deal in
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7 * the Software without restriction, including without limitation the rights to
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8 * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
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9 * the Software, and to permit persons to whom the Software is furnished to do so,
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10 * subject to the following conditions:
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12 * The above copyright notice and this permission notice shall be included in all
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13 * copies or substantial portions of the Software.
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15 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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16 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
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17 * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
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18 * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
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19 * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
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20 * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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22 * http://www.FreeRTOS.org
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23 * http://aws.amazon.com/freertos
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25 * 1 tab == 4 spaces!
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28 /******************************************************************************
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29 * NOTE 1: This project provides two demo applications. A simple blinky style
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30 * project, and a more comprehensive test and demo application. The
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31 * mainCREATE_SIMPLE_BLINKY_DEMO_ONLY setting in main.c is used to select
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32 * between the two. See the notes on using mainCREATE_SIMPLE_BLINKY_DEMO_ONLY
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33 * in main.c. This file implements the comprehensive test and demo version.
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35 * NOTE 2: This file only contains the source code that is specific to the
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36 * full demo. Generic functions, such FreeRTOS hook functions, and functions
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37 * required to configure the hardware, are defined in main.c.
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39 ******************************************************************************
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41 * main_full() creates all the demo application tasks and software timers, then
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42 * starts the scheduler. The web documentation provides more details of the
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43 * standard demo application tasks, which provide no particular functionality,
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44 * but do provide a good example of how to use the FreeRTOS API.
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46 * In addition to the standard demo tasks, the following tasks and tests are
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47 * defined and/or created within this file:
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49 * "FreeRTOS+CLI command console" - The command console is access using the USB
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50 * CDC driver provided by Atmel. It is accessed through the USB connector
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51 * marked J6 SAMA5D3 Xplained board. Type "help" to see a list of registered
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52 * commands. The FreeRTOS+CLI license is different to the FreeRTOS license, see
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53 * http://www.FreeRTOS.org/cli for license and usage details. The default baud
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56 * "Reg test" tasks - These fill both the core and floating point registers with
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57 * known values, then check that each register maintains its expected value for
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58 * the lifetime of the task. Each task uses a different set of values. The reg
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59 * test tasks execute with a very low priority, so get preempted very
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60 * frequently. A register containing an unexpected value is indicative of an
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61 * error in the context switching mechanism.
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63 * "Check" task - The check task period is initially set to three seconds. The
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64 * task checks that all the standard demo tasks, and the register check tasks,
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65 * are not only still executing, but are executing without reporting any errors.
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66 * If the check task discovers that a task has either stalled, or reported an
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67 * error, then it changes its own execution period from the initial three
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68 * seconds, to just 200ms. The check task also toggles an LED each time it is
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69 * called. This provides a visual indication of the system status: If the LED
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70 * toggles every three seconds, then no issues have been discovered. If the LED
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71 * toggles every 200ms, then an issue has been discovered with at least one
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75 /* Standard includes. */
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78 /* Kernel includes. */
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79 #include "FreeRTOS.h"
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84 /* Standard demo application includes. */
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86 #include "semtest.h"
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87 #include "dynamic.h"
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89 #include "blocktim.h"
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90 #include "countsem.h"
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91 #include "GenQTest.h"
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92 #include "recmutex.h"
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94 #include "partest.h"
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95 #include "comtest2.h"
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97 #include "TimerDemo.h"
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98 #include "QueueOverwrite.h"
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99 #include "IntQueue.h"
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100 #include "EventGroupsDemo.h"
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102 /* Priorities for the demo application tasks. */
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103 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1UL )
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104 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2UL )
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105 #define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3UL )
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106 #define mainFLOP_TASK_PRIORITY ( tskIDLE_PRIORITY )
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107 #define mainCDC_COMMAND_CONSOLE_STACK_SIZE ( configMINIMAL_STACK_SIZE * 2UL )
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108 #define mainCOM_TEST_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
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109 #define mainCHECK_TASK_PRIORITY ( configMAX_PRIORITIES - 1 )
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110 #define mainQUEUE_OVERWRITE_PRIORITY ( tskIDLE_PRIORITY )
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112 /* The initial priority used by the UART command console task. */
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113 #define mainUART_COMMAND_CONSOLE_TASK_PRIORITY ( configMAX_PRIORITIES - 2 )
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115 /* The LED used by the check task. */
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116 #define mainCHECK_LED ( 0 )
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118 /* A block time of zero simply means "don't block". */
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119 #define mainDONT_BLOCK ( 0UL )
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121 /* The period of the check task, in ms, provided no errors have been reported by
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122 any of the standard demo tasks. ms are converted to the equivalent in ticks
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123 using the pdMS_TO_TICKS() macro constant. */
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124 #define mainNO_ERROR_CHECK_TASK_PERIOD pdMS_TO_TICKS( 3000UL )
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126 /* The period of the check task, in ms, if an error has been reported in one of
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127 the standard demo tasks. ms are converted to the equivalent in ticks using the
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128 pdMS_TO_TICKS() macro. */
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129 #define mainERROR_CHECK_TASK_PERIOD pdMS_TO_TICKS( 200UL )
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131 /* Parameters that are passed into the register check tasks solely for the
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132 purpose of ensuring parameters are passed into tasks correctly. */
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133 #define mainREG_TEST_TASK_1_PARAMETER ( ( void * ) 0x12345678 )
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134 #define mainREG_TEST_TASK_2_PARAMETER ( ( void * ) 0x87654321 )
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136 /* The base period used by the timer test tasks. */
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137 #define mainTIMER_TEST_PERIOD ( 50 )
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139 /*-----------------------------------------------------------*/
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142 * Called by main() to run the full demo (as opposed to the blinky demo) when
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143 * mainCREATE_SIMPLE_BLINKY_DEMO_ONLY is set to 0.
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145 void main_full( void );
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148 * The check task, as described at the top of this file.
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150 static void prvCheckTask( void *pvParameters );
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153 * Register check tasks, and the tasks used to write over and check the contents
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154 * of the FPU registers, as described at the top of this file. The nature of
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155 * these files necessitates that they are written in an assembly file, but the
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156 * entry points are kept in the C file for the convenience of checking the task
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159 static void prvRegTestTaskEntry1( void *pvParameters );
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160 extern void vRegTest1Implementation( void );
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161 static void prvRegTestTaskEntry2( void *pvParameters );
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162 extern void vRegTest2Implementation( void );
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165 * Register commands that can be used with FreeRTOS+CLI. The commands are
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166 * defined in CLI-Commands.c and File-Related-CLI-Command.c respectively.
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168 extern void vRegisterSampleCLICommands( void );
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171 * The task that manages the FreeRTOS+CLI input and output.
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173 extern void vUSBCommandConsoleStart( uint16_t usStackSize, UBaseType_t uxPriority );
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176 * A high priority task that does nothing other than execute at a pseudo random
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177 * time to ensure the other test tasks don't just execute in a repeating
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180 static void prvPseudoRandomiser( void *pvParameters );
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182 /*-----------------------------------------------------------*/
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184 /* The following two variables are used to communicate the status of the
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185 register check tasks to the check task. If the variables keep incrementing,
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186 then the register check tasks have not discovered any errors. If a variable
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187 stops incrementing, then an error has been found. */
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188 volatile unsigned long ulRegTest1LoopCounter = 0UL, ulRegTest2LoopCounter = 0UL;
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190 /*-----------------------------------------------------------*/
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192 void main_full( void )
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194 /* Start all the other standard demo/test tasks. They have no particular
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195 functionality, but do demonstrate how to use the FreeRTOS API and test the
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197 vStartInterruptQueueTasks();
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198 vStartDynamicPriorityTasks();
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199 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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200 vCreateBlockTimeTasks();
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201 vStartCountingSemaphoreTasks();
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202 vStartGenericQueueTasks( tskIDLE_PRIORITY );
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203 vStartRecursiveMutexTasks();
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204 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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205 vStartMathTasks( mainFLOP_TASK_PRIORITY );
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206 vStartTimerDemoTask( mainTIMER_TEST_PERIOD );
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207 vStartQueueOverwriteTask( mainQUEUE_OVERWRITE_PRIORITY );
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208 vStartEventGroupTasks();
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210 /* Start the tasks that implements the command console on the UART, as
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211 described above. */
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212 vUSBCommandConsoleStart( mainCDC_COMMAND_CONSOLE_STACK_SIZE, mainUART_COMMAND_CONSOLE_TASK_PRIORITY );
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214 /* Register the standard CLI commands. */
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215 vRegisterSampleCLICommands();
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217 /* Create the register check tasks, as described at the top of this file */
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218 xTaskCreate( prvRegTestTaskEntry1, "Reg1", configMINIMAL_STACK_SIZE, mainREG_TEST_TASK_1_PARAMETER, tskIDLE_PRIORITY, NULL );
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219 xTaskCreate( prvRegTestTaskEntry2, "Reg2", configMINIMAL_STACK_SIZE, mainREG_TEST_TASK_2_PARAMETER, tskIDLE_PRIORITY, NULL );
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221 /* Create the task that just adds a little random behaviour. */
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222 xTaskCreate( prvPseudoRandomiser, "Rnd", configMINIMAL_STACK_SIZE, NULL, configMAX_PRIORITIES - 1, NULL );
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224 /* Create the task that performs the 'check' functionality, as described at
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225 the top of this file. */
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226 xTaskCreate( prvCheckTask, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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228 /* The set of tasks created by the following function call have to be
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229 created last as they keep account of the number of tasks they expect to see
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231 vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
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233 /* Start the scheduler. */
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234 vTaskStartScheduler();
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236 /* If all is well, the scheduler will now be running, and the following
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237 line will never be reached. If the following line does execute, then
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238 there was either insufficient FreeRTOS heap memory available for the idle
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239 and/or timer tasks to be created, or vTaskStartScheduler() was called from
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240 User mode. See the memory management section on the FreeRTOS web site for
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241 more details on the FreeRTOS heap http://www.freertos.org/a00111.html. The
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242 mode from which main() is called is set in the C start up code and must be
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243 a privileged mode (not user mode). */
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246 /*-----------------------------------------------------------*/
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248 static void prvCheckTask( void *pvParameters )
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250 TickType_t xDelayPeriod = mainNO_ERROR_CHECK_TASK_PERIOD;
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251 TickType_t xLastExecutionTime;
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252 static unsigned long ulLastRegTest1Value = 0, ulLastRegTest2Value = 0;
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253 unsigned long ulErrorFound = pdFALSE;
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255 /* Just to stop compiler warnings. */
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256 ( void ) pvParameters;
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258 /* Initialise xLastExecutionTime so the first call to vTaskDelayUntil()
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259 works correctly. */
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260 xLastExecutionTime = xTaskGetTickCount();
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262 /* Cycle for ever, delaying then checking all the other tasks are still
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263 operating without error. The onboard LED is toggled on each iteration.
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264 If an error is detected then the delay period is decreased from
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265 mainNO_ERROR_CHECK_TASK_PERIOD to mainERROR_CHECK_TASK_PERIOD. This has the
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266 effect of increasing the rate at which the onboard LED toggles, and in so
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267 doing gives visual feedback of the system status. */
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270 /* Delay until it is time to execute again. */
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271 vTaskDelayUntil( &xLastExecutionTime, xDelayPeriod );
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273 /* Check all the demo tasks (other than the flash tasks) to ensure
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274 that they are all still running, and that none have detected an error. */
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275 if( xAreIntQueueTasksStillRunning() != pdTRUE )
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277 ulErrorFound = pdTRUE;
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280 if( xAreMathsTaskStillRunning() != pdTRUE )
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282 ulErrorFound = pdTRUE;
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285 if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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287 ulErrorFound = pdTRUE;
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290 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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292 ulErrorFound = pdTRUE;
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295 if ( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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297 ulErrorFound = pdTRUE;
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300 if ( xAreGenericQueueTasksStillRunning() != pdTRUE )
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302 ulErrorFound = pdTRUE;
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305 if ( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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307 ulErrorFound = pdTRUE;
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310 if( xIsCreateTaskStillRunning() != pdTRUE )
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312 ulErrorFound = pdTRUE;
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315 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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317 ulErrorFound = pdTRUE;
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320 if( xAreTimerDemoTasksStillRunning( ( TickType_t ) mainNO_ERROR_CHECK_TASK_PERIOD ) != pdPASS )
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322 ulErrorFound = pdTRUE;
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325 if( xAreCountingSemaphoreTasksStillRunning() != pdTRUE )
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327 ulErrorFound = pdTRUE;
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330 if( xIsQueueOverwriteTaskStillRunning() != pdPASS )
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332 ulErrorFound = pdTRUE;
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335 if( xAreEventGroupTasksStillRunning() != pdPASS )
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337 ulErrorFound = pdTRUE;
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340 /* Check that the register test 1 task is still running. */
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341 if( ulLastRegTest1Value == ulRegTest1LoopCounter )
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343 ulErrorFound = pdTRUE;
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345 ulLastRegTest1Value = ulRegTest1LoopCounter;
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347 /* Check that the register test 2 task is still running. */
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348 if( ulLastRegTest2Value == ulRegTest2LoopCounter )
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350 ulErrorFound = pdTRUE;
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352 ulLastRegTest2Value = ulRegTest2LoopCounter;
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354 /* Toggle the check LED to give an indication of the system status. If
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355 the LED toggles every mainNO_ERROR_CHECK_TASK_PERIOD milliseconds then
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356 everything is ok. A faster toggle indicates an error. */
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357 vParTestToggleLED( mainCHECK_LED );
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359 if( ulErrorFound != pdFALSE )
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361 /* An error has been detected in one of the tasks - flash the LED
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362 at a higher frequency to give visible feedback that something has
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363 gone wrong (it might just be that the loop back connector required
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364 by the comtest tasks has not been fitted). */
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365 xDelayPeriod = mainERROR_CHECK_TASK_PERIOD;
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369 /*-----------------------------------------------------------*/
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371 static void prvRegTestTaskEntry1( void *pvParameters )
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373 /* Although the regtest task is written in assembler, its entry point is
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374 written in C for convenience of checking the task parameter is being passed
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376 if( pvParameters == mainREG_TEST_TASK_1_PARAMETER )
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378 /* The reg test task also tests the floating point registers. Tasks
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379 that use the floating point unit must call vPortTaskUsesFPU() before
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380 any floating point instructions are executed. */
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381 vPortTaskUsesFPU();
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383 /* Start the part of the test that is written in assembler. */
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384 vRegTest1Implementation();
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387 /* The following line will only execute if the task parameter is found to
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388 be incorrect. The check task will detect that the regtest loop counter is
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389 not being incremented and flag an error. */
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390 vTaskDelete( NULL );
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392 /*-----------------------------------------------------------*/
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394 static void prvRegTestTaskEntry2( void *pvParameters )
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396 /* Although the regtest task is written in assembler, its entry point is
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397 written in C for convenience of checking the task parameter is being passed
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399 if( pvParameters == mainREG_TEST_TASK_2_PARAMETER )
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401 /* The reg test task also tests the floating point registers. Tasks
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402 that use the floating point unit must call vPortTaskUsesFPU() before
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403 any floating point instructions are executed. */
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404 vPortTaskUsesFPU();
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406 /* Start the part of the test that is written in assembler. */
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407 vRegTest2Implementation();
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410 /* The following line will only execute if the task parameter is found to
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411 be incorrect. The check task will detect that the regtest loop counter is
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412 not being incremented and flag an error. */
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413 vTaskDelete( NULL );
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415 /*-----------------------------------------------------------*/
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417 static void prvPseudoRandomiser( void *pvParameters )
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419 const uint32_t ulMultiplier = 0x015a4e35UL, ulIncrement = 1UL, ulMinDelay = ( 35 / portTICK_PERIOD_MS ), ulIBit = ( 1UL << 7UL );
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420 volatile uint32_t ulNextRand = ( uint32_t ) &pvParameters, ulValue;
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422 /* A few minor port tests before entering the randomiser loop.
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424 At this point interrupts should be enabled. */
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425 configASSERT( ( __get_CPSR() & ulIBit ) == 0 );
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427 /* The CPU does not have an interrupt mask register, so critical sections
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428 have to globally disable interrupts. Therefore entering a critical section
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429 should leave the I bit set. */
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430 taskENTER_CRITICAL();
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431 configASSERT( ( __get_CPSR() & ulIBit ) == ulIBit );
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433 /* Nest the critical sections. */
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434 taskENTER_CRITICAL();
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435 configASSERT( ( __get_CPSR() & ulIBit ) == ulIBit );
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437 /* After yielding the I bit should still be set. Note yielding is possible
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438 in a critical section as each task maintains its own critical section
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439 nesting count so some tasks are in critical sections and others are not -
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440 however this is *not* something task code should do! */
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442 configASSERT( ( __get_CPSR() & ulIBit ) == ulIBit );
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444 /* The I bit should not be cleared again until both critical sections have
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446 taskEXIT_CRITICAL();
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448 configASSERT( ( __get_CPSR() & ulIBit ) == ulIBit );
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449 taskEXIT_CRITICAL();
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450 configASSERT( ( __get_CPSR() & ulIBit ) == 0 );
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452 configASSERT( ( __get_CPSR() & ulIBit ) == 0 );
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454 /* This task does nothing other than ensure there is a little bit of
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455 disruption in the scheduling pattern of the other tasks. Normally this is
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456 done by generating interrupts at pseudo random times. */
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459 ulNextRand = ( ulMultiplier * ulNextRand ) + ulIncrement;
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460 ulValue = ( ulNextRand >> 16UL ) & 0xffUL;
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462 if( ulValue < ulMinDelay )
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464 ulValue = ulMinDelay;
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467 vTaskDelay( ulValue );
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469 while( ulValue > 0 )
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471 __asm volatile( "NOP" );
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472 __asm volatile( "NOP" );
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473 __asm volatile( "NOP" );
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474 __asm volatile( "NOP" );
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