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 three demo applications. A simple blinky
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72 * style project, a more comprehensive test and demo application, and an
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73 * lwIP example. The mainSELECTED_APPLICATION setting in main.c is used to
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74 * select between the three. See the notes on using mainSELECTED_APPLICATION
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75 * in main.c. This file 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). printf-stdarg.c is included in this
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86 * project to prevent the standard GCC libraries being linked into the project.
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88 ******************************************************************************
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90 * main_full() creates all the demo application tasks and software timers, then
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91 * starts the scheduler. The web documentation provides more details of the
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92 * standard demo application tasks, which provide no particular functionality,
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93 * but do provide a good example of how to use the FreeRTOS API.
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95 * In addition to the standard demo tasks, the following tasks and tests are
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96 * defined and/or created within this file:
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98 * FreeRTOS+CLI command console. The command console is access through the
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99 * UART to USB connector on the ZC702 Zynq development board (marked J2). For
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100 * reasons of robustness testing the UART driver is deliberately written to be
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101 * inefficient and should not be used as a template for a production driver.
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102 * Type "help" to see a list of registered commands. The FreeRTOS+CLI license
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103 * is different to the FreeRTOS license, see http://www.FreeRTOS.org/cli for
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104 * license and usage details. The default baud rate is 115200.
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106 * "Reg test" tasks - These fill both the core and floating point registers with
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107 * known values, then check that each register maintains its expected value for
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108 * the lifetime of the task. Each task uses a different set of values. The reg
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109 * test tasks execute with a very low priority, so get preempted very
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110 * frequently. A register containing an unexpected value is indicative of an
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111 * error in the context switching mechanism.
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113 * "Check" task - The check task period is initially set to three seconds. The
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114 * task checks that all the standard demo tasks, and the register check tasks,
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115 * are not only still executing, but are executing without reporting any errors.
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116 * If the check task discovers that a task has either stalled, or reported an
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117 * error, then it changes its own execution period from the initial three
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118 * seconds, to just 200ms. The check task also toggles an LED each time it is
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119 * called. This provides a visual indication of the system status: If the LED
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120 * toggles every three seconds, then no issues have been discovered. If the LED
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121 * toggles every 200ms, then an issue has been discovered with at least one
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125 /* Standard includes. */
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128 /* Kernel includes. */
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129 #include "FreeRTOS.h"
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131 #include "timers.h"
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132 #include "semphr.h"
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134 /* Standard demo application includes. */
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136 #include "semtest.h"
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137 #include "dynamic.h"
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138 #include "BlockQ.h"
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139 #include "blocktim.h"
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140 #include "countsem.h"
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141 #include "GenQTest.h"
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142 #include "recmutex.h"
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144 #include "partest.h"
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145 #include "comtest2.h"
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146 #include "serial.h"
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147 #include "TimerDemo.h"
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148 #include "QueueOverwrite.h"
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149 #include "IntQueue.h"
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150 #include "EventGroupsDemo.h"
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151 #include "TaskNotify.h"
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152 #include "IntSemTest.h"
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153 #include "StaticAllocation.h"
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154 #include "AbortDelay.h"
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157 /* Priorities for the demo application tasks. */
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158 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1UL )
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159 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2UL )
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160 #define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3UL )
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161 #define mainFLOP_TASK_PRIORITY ( tskIDLE_PRIORITY )
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162 #define mainUART_COMMAND_CONSOLE_STACK_SIZE ( configMINIMAL_STACK_SIZE * 3UL )
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163 #define mainCOM_TEST_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
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164 #define mainCHECK_TASK_PRIORITY ( configMAX_PRIORITIES - 1 )
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165 #define mainQUEUE_OVERWRITE_PRIORITY ( tskIDLE_PRIORITY )
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167 /* The priority used by the UART command console task. */
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168 #define mainUART_COMMAND_CONSOLE_TASK_PRIORITY ( configMAX_PRIORITIES - 2 )
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170 /* The LED used by the check task. */
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171 #define mainCHECK_LED ( 0 )
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173 /* A block time of zero simply means "don't block". */
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174 #define mainDONT_BLOCK ( 0UL )
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176 /* The period of the check task, in ms, provided no errors have been reported by
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177 any of the standard demo tasks. ms are converted to the equivalent in ticks
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178 using the pdMS_TO_TICKS() macro constant. */
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179 #define mainNO_ERROR_CHECK_TASK_PERIOD pdMS_TO_TICKS( 3000UL )
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181 /* The period of the check task, in ms, if an error has been reported in one of
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182 the standard demo tasks. ms are converted to the equivalent in ticks using the
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183 pdMS_TO_TICKS() macro. */
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184 #define mainERROR_CHECK_TASK_PERIOD pdMS_TO_TICKS( 200UL )
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186 /* Parameters that are passed into the register check tasks solely for the
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187 purpose of ensuring parameters are passed into tasks correctly. */
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188 #define mainREG_TEST_TASK_1_PARAMETER ( ( void * ) 0x12345678 )
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189 #define mainREG_TEST_TASK_2_PARAMETER ( ( void * ) 0x87654321 )
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191 /* The base period used by the timer test tasks. */
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192 #define mainTIMER_TEST_PERIOD ( 50 )
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194 /*-----------------------------------------------------------*/
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198 * The check task, as described at the top of this file.
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200 static void prvCheckTask( void *pvParameters );
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203 * Register check tasks, and the tasks used to write over and check the contents
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204 * of the FPU registers, as described at the top of this file. The nature of
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205 * these files necessitates that they are written in an assembly file, but the
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206 * entry points are kept in the C file for the convenience of checking the task
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209 static void prvRegTestTaskEntry1( void *pvParameters );
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210 extern void vRegTest1Implementation( void );
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211 static void prvRegTestTaskEntry2( void *pvParameters );
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212 extern void vRegTest2Implementation( void );
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215 * Register commands that can be used with FreeRTOS+CLI. The commands are
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216 * defined in CLI-Commands.c and File-Related-CLI-Command.c respectively.
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218 extern void vRegisterSampleCLICommands( void );
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221 * The task that manages the FreeRTOS+CLI input and output.
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223 extern void vUARTCommandConsoleStart( uint16_t usStackSize, UBaseType_t uxPriority );
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226 * A high priority task that does nothing other than execute at a pseudo random
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227 * time to ensure the other test tasks don't just execute in a repeating
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230 static void prvPseudoRandomiser( void *pvParameters );
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232 /*-----------------------------------------------------------*/
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234 /* The following two variables are used to communicate the status of the
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235 register check tasks to the check task. If the variables keep incrementing,
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236 then the register check tasks have not discovered any errors. If a variable
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237 stops incrementing, then an error has been found. */
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238 volatile unsigned long ulRegTest1LoopCounter = 0UL, ulRegTest2LoopCounter = 0UL;
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240 /* String for display in the web server. It is set to an error message if the
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241 check task detects an error. */
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242 char *pcStatusMessage = "All tasks running without error";
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243 /*-----------------------------------------------------------*/
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245 void main_full( void )
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247 /* Start all the other standard demo/test tasks. They have no particular
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248 functionality, but do demonstrate how to use the FreeRTOS API and test the
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250 vStartInterruptQueueTasks();
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251 vStartDynamicPriorityTasks();
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252 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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253 vCreateBlockTimeTasks();
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254 vStartCountingSemaphoreTasks();
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255 vStartGenericQueueTasks( tskIDLE_PRIORITY );
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256 vStartRecursiveMutexTasks();
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257 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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258 vStartMathTasks( mainFLOP_TASK_PRIORITY );
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259 vStartTimerDemoTask( mainTIMER_TEST_PERIOD );
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260 vStartQueueOverwriteTask( mainQUEUE_OVERWRITE_PRIORITY );
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261 vStartEventGroupTasks();
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262 vStartTaskNotifyTask();
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263 vStartInterruptSemaphoreTasks();
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264 vStartStaticallyAllocatedTasks();
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265 vCreateAbortDelayTasks();
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267 /* Start the tasks that implements the command console on the UART, as
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268 described above. */
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269 vUARTCommandConsoleStart( mainUART_COMMAND_CONSOLE_STACK_SIZE, mainUART_COMMAND_CONSOLE_TASK_PRIORITY );
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271 /* Register the standard CLI commands. */
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272 vRegisterSampleCLICommands();
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274 /* Create the register check tasks, as described at the top of this file */
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275 xTaskCreate( prvRegTestTaskEntry1, "Reg1", configMINIMAL_STACK_SIZE, mainREG_TEST_TASK_1_PARAMETER, tskIDLE_PRIORITY, NULL );
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276 xTaskCreate( prvRegTestTaskEntry2, "Reg2", configMINIMAL_STACK_SIZE, mainREG_TEST_TASK_2_PARAMETER, tskIDLE_PRIORITY, NULL );
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278 /* Create the task that just adds a little random behaviour. */
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279 xTaskCreate( prvPseudoRandomiser, "Rnd", configMINIMAL_STACK_SIZE, NULL, configMAX_PRIORITIES - 1, NULL );
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281 /* Create the task that performs the 'check' functionality, as described at
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282 the top of this file. */
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283 xTaskCreate( prvCheckTask, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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285 /* The set of tasks created by the following function call have to be
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286 created last as they keep account of the number of tasks they expect to see
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288 vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
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290 /* Start the scheduler. */
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291 vTaskStartScheduler();
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293 /* If all is well, the scheduler will now be running, and the following
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294 line will never be reached. If the following line does execute, then
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295 there was either insufficient FreeRTOS heap memory available for the idle
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296 and/or timer tasks to be created, or vTaskStartScheduler() was called from
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297 User mode. See the memory management section on the FreeRTOS web site for
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298 more details on the FreeRTOS heap http://www.freertos.org/a00111.html. The
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299 mode from which main() is called is set in the C start up code and must be
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300 a privileged mode (not user mode). */
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303 /*-----------------------------------------------------------*/
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305 static void prvCheckTask( void *pvParameters )
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307 TickType_t xDelayPeriod = mainNO_ERROR_CHECK_TASK_PERIOD;
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308 TickType_t xLastExecutionTime;
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309 static unsigned long ulLastRegTest1Value = 0, ulLastRegTest2Value = 0;
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310 unsigned long ulErrorFound = pdFALSE;
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312 /* Just to stop compiler warnings. */
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313 ( void ) pvParameters;
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315 /* Initialise xLastExecutionTime so the first call to vTaskDelayUntil()
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316 works correctly. */
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317 xLastExecutionTime = xTaskGetTickCount();
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319 /* Cycle for ever, delaying then checking all the other tasks are still
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320 operating without error. The onboard LED is toggled on each iteration.
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321 If an error is detected then the delay period is decreased from
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322 mainNO_ERROR_CHECK_TASK_PERIOD to mainERROR_CHECK_TASK_PERIOD. This has the
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323 effect of increasing the rate at which the onboard LED toggles, and in so
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324 doing gives visual feedback of the system status. */
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327 /* Delay until it is time to execute again. */
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328 vTaskDelayUntil( &xLastExecutionTime, xDelayPeriod );
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330 /* Check all the demo tasks (other than the flash tasks) to ensure
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331 that they are all still running, and that none have detected an error. */
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332 if( xAreIntQueueTasksStillRunning() != pdTRUE )
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334 ulErrorFound |= 1UL << 0UL;
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337 if( xAreMathsTaskStillRunning() != pdTRUE )
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339 ulErrorFound |= 1UL << 1UL;
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342 if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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344 ulErrorFound |= 1UL << 2UL;
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347 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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349 ulErrorFound |= 1UL << 3UL;
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352 if ( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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354 ulErrorFound |= 1UL << 4UL;
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357 if ( xAreGenericQueueTasksStillRunning() != pdTRUE )
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359 ulErrorFound |= 1UL << 5UL;
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362 if ( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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364 ulErrorFound |= 1UL << 6UL;
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367 if( xIsCreateTaskStillRunning() != pdTRUE )
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369 ulErrorFound |= 1UL << 7UL;
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372 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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374 ulErrorFound |= 1UL << 8UL;
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377 if( xAreTimerDemoTasksStillRunning( ( TickType_t ) mainNO_ERROR_CHECK_TASK_PERIOD ) != pdPASS )
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379 ulErrorFound |= 1UL << 9UL;
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382 if( xAreCountingSemaphoreTasksStillRunning() != pdTRUE )
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384 ulErrorFound |= 1UL << 10UL;
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387 if( xIsQueueOverwriteTaskStillRunning() != pdPASS )
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389 ulErrorFound |= 1UL << 11UL;
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392 if( xAreEventGroupTasksStillRunning() != pdPASS )
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394 ulErrorFound |= 1UL << 12UL;
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397 if( xAreTaskNotificationTasksStillRunning() != pdTRUE )
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399 ulErrorFound |= 1UL << 13UL;
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402 if( xAreInterruptSemaphoreTasksStillRunning() != pdTRUE )
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404 ulErrorFound |= 1UL << 14UL;
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407 if( xAreStaticAllocationTasksStillRunning() != pdPASS )
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409 ulErrorFound |= 1UL << 15UL;
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412 if( xAreAbortDelayTestTasksStillRunning() != pdPASS )
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414 ulErrorFound |= 1UL << 16UL;
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417 /* Check that the register test 1 task is still running. */
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418 if( ulLastRegTest1Value == ulRegTest1LoopCounter )
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420 ulErrorFound |= 1UL << 17UL;
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422 ulLastRegTest1Value = ulRegTest1LoopCounter;
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424 /* Check that the register test 2 task is still running. */
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425 if( ulLastRegTest2Value == ulRegTest2LoopCounter )
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427 ulErrorFound |= 1UL << 18UL;
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429 ulLastRegTest2Value = ulRegTest2LoopCounter;
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431 /* Toggle the check LED to give an indication of the system status. If
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432 the LED toggles every mainNO_ERROR_CHECK_TASK_PERIOD milliseconds then
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433 everything is ok. A faster toggle indicates an error. */
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434 vParTestToggleLED( mainCHECK_LED );
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436 if( ulErrorFound != pdFALSE )
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438 /* An error has been detected in one of the tasks - flash the LED
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439 at a higher frequency to give visible feedback that something has
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440 gone wrong (it might just be that the loop back connector required
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441 by the comtest tasks has not been fitted). */
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442 xDelayPeriod = mainERROR_CHECK_TASK_PERIOD;
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443 pcStatusMessage = "Error found in at least one task.";
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447 /*-----------------------------------------------------------*/
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449 char *pcMainGetTaskStatusMessage( void )
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451 return pcStatusMessage;
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453 /*-----------------------------------------------------------*/
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455 static void prvRegTestTaskEntry1( void *pvParameters )
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457 /* Although the regtest task is written in assembler, its entry point is
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458 written in C for convenience of checking the task parameter is being passed
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460 if( pvParameters == mainREG_TEST_TASK_1_PARAMETER )
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462 /* The reg test task also tests the floating point registers. Tasks
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463 that use the floating point unit must call vPortTaskUsesFPU() before
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464 any floating point instructions are executed. */
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465 vPortTaskUsesFPU();
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467 /* Start the part of the test that is written in assembler. */
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468 vRegTest1Implementation();
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471 /* The following line will only execute if the task parameter is found to
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472 be incorrect. The check task will detect that the regtest loop counter is
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473 not being incremented and flag an error. */
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474 vTaskDelete( NULL );
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476 /*-----------------------------------------------------------*/
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478 static void prvRegTestTaskEntry2( void *pvParameters )
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480 /* Although the regtest task is written in assembler, its entry point is
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481 written in C for convenience of checking the task parameter is being passed
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483 if( pvParameters == mainREG_TEST_TASK_2_PARAMETER )
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485 /* The reg test task also tests the floating point registers. Tasks
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486 that use the floating point unit must call vPortTaskUsesFPU() before
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487 any floating point instructions are executed. */
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488 vPortTaskUsesFPU();
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490 /* Start the part of the test that is written in assembler. */
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491 vRegTest2Implementation();
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494 /* The following line will only execute if the task parameter is found to
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495 be incorrect. The check task will detect that the regtest loop counter is
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496 not being incremented and flag an error. */
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497 vTaskDelete( NULL );
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499 /*-----------------------------------------------------------*/
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501 static void prvPseudoRandomiser( void *pvParameters )
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503 const uint32_t ulMultiplier = 0x015a4e35UL, ulIncrement = 1UL, ulMinDelay = ( 35 / portTICK_PERIOD_MS );
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504 volatile uint32_t ulNextRand = ( uint32_t ) &pvParameters, ulValue;
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506 /* This task does nothing other than ensure there is a little bit of
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507 disruption in the scheduling pattern of the other tasks. Normally this is
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508 done by generating interrupts at pseudo random times. */
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511 ulNextRand = ( ulMultiplier * ulNextRand ) + ulIncrement;
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512 ulValue = ( ulNextRand >> 16UL ) & 0xffUL;
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514 if( ulValue < ulMinDelay )
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516 ulValue = ulMinDelay;
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519 vTaskDelay( ulValue );
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521 while( ulValue > 0 )
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523 __asm volatile( "NOP" );
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524 __asm volatile( "NOP" );
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525 __asm volatile( "NOP" );
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526 __asm volatile( "NOP" );
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