2 FreeRTOS V7.4.1 - Copyright (C) 2013 Real Time Engineers Ltd.
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4 FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME. PLEASE VISIT
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5 http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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7 ***************************************************************************
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9 * FreeRTOS tutorial books are available in pdf and paperback. *
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10 * Complete, revised, and edited pdf reference manuals are also *
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13 * Purchasing FreeRTOS documentation will not only help you, by *
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14 * ensuring you get running as quickly as possible and with an *
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15 * in-depth knowledge of how to use FreeRTOS, it will also help *
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16 * the FreeRTOS project to continue with its mission of providing *
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17 * professional grade, cross platform, de facto standard solutions *
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18 * for microcontrollers - completely free of charge! *
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20 * >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
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22 * Thank you for using FreeRTOS, and thank you for your support! *
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24 ***************************************************************************
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27 This file is part of the FreeRTOS distribution.
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29 FreeRTOS is free software; you can redistribute it and/or modify it under
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30 the terms of the GNU General Public License (version 2) as published by the
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31 Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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33 >>>>>>NOTE<<<<<< The modification to the GPL is included to allow you to
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34 distribute a combined work that includes FreeRTOS without being obliged to
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35 provide the source code for proprietary components outside of the FreeRTOS
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38 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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39 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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40 FOR A PARTICULAR PURPOSE. See the GNU General Public License for more
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41 details. You should have received a copy of the GNU General Public License
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42 and the FreeRTOS license exception along with FreeRTOS; if not it can be
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43 viewed here: http://www.freertos.org/a00114.html and also obtained by
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44 writing to Real Time Engineers Ltd., contact details for whom are available
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45 on the FreeRTOS WEB site.
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49 ***************************************************************************
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51 * Having a problem? Start by reading the FAQ "My application does *
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52 * not run, what could be wrong?" *
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54 * http://www.FreeRTOS.org/FAQHelp.html *
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56 ***************************************************************************
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59 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
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60 license and Real Time Engineers Ltd. contact details.
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62 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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63 including FreeRTOS+Trace - an indispensable productivity tool, and our new
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64 fully thread aware and reentrant UDP/IP stack.
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66 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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67 Integrity Systems, who sell the code with commercial support,
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68 indemnification and middleware, under the OpenRTOS brand.
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70 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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71 engineered and independently SIL3 certified version for use in safety and
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72 mission critical applications that require provable dependability.
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76 * main-blinky.c is included when the "Blinky" build configuration is used.
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77 * main-full.c is included when the "Full" build configuration is used.
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79 * main-blinky.c (this file) defines a very simple demo that creates two tasks,
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80 * one queue, and one timer. It also demonstrates how Cortex-M3 interrupts can
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81 * interact with FreeRTOS tasks/timers.
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83 * This simple demo project runs 'stand alone' (without the rest of the tower
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84 * system) on the TWR-K60N512 tower module, which is populated with a K60N512
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85 * Cortex-M4 microcontroller.
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87 * The idle hook function:
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88 * The idle hook function demonstrates how to query the amount of FreeRTOS heap
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89 * space that is remaining (see vApplicationIdleHook() defined in this file).
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91 * The main() Function:
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92 * main() creates one software timer, one queue, and two tasks. It then starts
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95 * The Queue Send Task:
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96 * The queue send task is implemented by the prvQueueSendTask() function in
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97 * this file. prvQueueSendTask() sits in a loop that causes it to repeatedly
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98 * block for 200 milliseconds, before sending the value 100 to the queue that
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99 * was created within main(). Once the value is sent, the task loops back
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100 * around to block for another 200 milliseconds.
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102 * The Queue Receive Task:
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103 * The queue receive task is implemented by the prvQueueReceiveTask() function
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104 * in this file. prvQueueReceiveTask() sits in a loop that causes it to
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105 * repeatedly attempt to read data from the queue that was created within
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106 * main(). When data is received, the task checks the value of the data, and
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107 * if the value equals the expected 100, toggles the blue LED. The 'block
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108 * time' parameter passed to the queue receive function specifies that the task
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109 * should be held in the Blocked state indefinitely to wait for data to be
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110 * available on the queue. The queue receive task will only leave the Blocked
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111 * state when the queue send task writes to the queue. As the queue send task
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112 * writes to the queue every 200 milliseconds, the queue receive task leaves the
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113 * Blocked state every 200 milliseconds, and therefore toggles the blue LED
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114 * every 200 milliseconds.
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116 * The LED Software Timer and the Button Interrupt:
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117 * The user button SW2 is configured to generate an interrupt each time it is
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118 * pressed. The interrupt service routine switches the green LED on, and
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119 * resets the LED software timer. The LED timer has a 5000 millisecond (5
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120 * second) period, and uses a callback function that is defined to just turn the
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121 * LED off again. Therefore, pressing the user button will turn the LED on, and
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122 * the LED will remain on until a full five seconds pass without the button
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126 /* Kernel includes. */
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127 #include "FreeRTOS.h"
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130 #include "timers.h"
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132 /* Freescale includes. */
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133 #include "common.h"
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135 /* Priorities at which the tasks are created. */
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136 #define mainQUEUE_RECEIVE_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
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137 #define mainQUEUE_SEND_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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139 /* The rate at which data is sent to the queue, specified in milliseconds, and
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140 converted to ticks using the portTICK_RATE_MS constant. */
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141 #define mainQUEUE_SEND_FREQUENCY_MS ( 200 / portTICK_RATE_MS )
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143 /* The LED will remain on until the button has not been pushed for a full
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145 #define mainBUTTON_LED_TIMER_PERIOD_MS ( 5000UL / portTICK_RATE_MS )
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147 /* The number of items the queue can hold. This is 1 as the receive task
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148 will remove items as they are added, meaning the send task should always find
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149 the queue empty. */
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150 #define mainQUEUE_LENGTH ( 1 )
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152 /* The LED toggle by the queue receive task (blue). */
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153 #define mainTASK_CONTROLLED_LED ( 1UL << 10UL )
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155 /* The LED turned on by the button interrupt, and turned off by the LED timer
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157 #define mainTIMER_CONTROLLED_LED ( 1UL << 29UL )
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159 /* The vector used by the GPIO port E. Button SW2 is configured to generate
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160 an interrupt on this port. */
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161 #define mainGPIO_E_VECTOR ( 91 )
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163 /* A block time of zero simply means "don't block". */
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164 #define mainDONT_BLOCK ( 0UL )
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166 /*-----------------------------------------------------------*/
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169 * Setup the NVIC, LED outputs, and button inputs.
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171 static void prvSetupHardware( void );
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174 * The tasks as described in the comments at the top of this file.
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176 static void prvQueueReceiveTask( void *pvParameters );
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177 static void prvQueueSendTask( void *pvParameters );
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180 * The LED timer callback function. This does nothing but switch off the
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181 * LED defined by the mainTIMER_CONTROLLED_LED constant.
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183 static void prvButtonLEDTimerCallback( xTimerHandle xTimer );
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185 /*-----------------------------------------------------------*/
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187 /* The queue used by both tasks. */
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188 static xQueueHandle xQueue = NULL;
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190 /* The LED software timer. This uses prvButtonLEDTimerCallback() as its callback
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192 static xTimerHandle xButtonLEDTimer = NULL;
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194 /*-----------------------------------------------------------*/
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198 /* Configure the NVIC, LED outputs and button inputs. */
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199 prvSetupHardware();
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201 /* Create the queue. */
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202 xQueue = xQueueCreate( mainQUEUE_LENGTH, sizeof( unsigned long ) );
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204 if( xQueue != NULL )
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206 /* Start the two tasks as described in the comments at the top of this
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208 xTaskCreate( prvQueueReceiveTask, ( signed char * ) "Rx", configMINIMAL_STACK_SIZE, NULL, mainQUEUE_RECEIVE_TASK_PRIORITY, NULL );
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209 xTaskCreate( prvQueueSendTask, ( signed char * ) "TX", configMINIMAL_STACK_SIZE, NULL, mainQUEUE_SEND_TASK_PRIORITY, NULL );
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211 /* Create the software timer that is responsible for turning off the LED
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212 if the button is not pushed within 5000ms, as described at the top of
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214 xButtonLEDTimer = xTimerCreate( ( const signed char * ) "ButtonLEDTimer", /* A text name, purely to help debugging. */
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215 mainBUTTON_LED_TIMER_PERIOD_MS, /* The timer period, in this case 5000ms (5s). */
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216 pdFALSE, /* This is a one shot timer, so xAutoReload is set to pdFALSE. */
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217 ( void * ) 0, /* The ID is not used, so can be set to anything. */
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218 prvButtonLEDTimerCallback /* The callback function that switches the LED off. */
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221 /* Start the tasks and timer running. */
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222 vTaskStartScheduler();
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225 /* If all is well, the scheduler will now be running, and the following line
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226 will never be reached. If the following line does execute, then there was
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227 insufficient FreeRTOS heap memory available for the idle and/or timer tasks
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228 to be created. See the memory management section on the FreeRTOS web site
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229 for more details. */
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232 /*-----------------------------------------------------------*/
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234 static void prvButtonLEDTimerCallback( xTimerHandle xTimer )
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236 /* The timer has expired - so no button pushes have occurred in the last
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237 five seconds - turn the LED off. */
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238 GPIOA_PSOR = mainTIMER_CONTROLLED_LED;
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240 /*-----------------------------------------------------------*/
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242 /* The ISR executed when the user button is pushed. */
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243 void vPort_E_ISRHandler( void )
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245 portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
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247 /* The button was pushed, so ensure the LED is on before resetting the
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248 LED timer. The LED timer will turn the LED off if the button is not
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249 pushed within 5000ms. */
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250 GPIOA_PCOR = mainTIMER_CONTROLLED_LED;
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252 /* This interrupt safe FreeRTOS function can be called from this interrupt
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253 because the interrupt priority is below the
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254 configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY setting in FreeRTOSConfig.h. */
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255 xTimerResetFromISR( xButtonLEDTimer, &xHigherPriorityTaskWoken );
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257 /* Clear the interrupt before leaving. */
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258 PORTE_ISFR = 0xFFFFFFFFUL;
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260 /* If calling xTimerResetFromISR() caused a task (in this case the timer
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261 service/daemon task) to unblock, and the unblocked task has a priority
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262 higher than or equal to the task that was interrupted, then
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263 xHigherPriorityTaskWoken will now be set to pdTRUE, and calling
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264 portEND_SWITCHING_ISR() will ensure the unblocked task runs next. */
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265 portEND_SWITCHING_ISR( xHigherPriorityTaskWoken );
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267 /*-----------------------------------------------------------*/
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269 static void prvQueueSendTask( void *pvParameters )
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271 portTickType xNextWakeTime;
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272 const unsigned long ulValueToSend = 100UL;
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274 /* Initialise xNextWakeTime - this only needs to be done once. */
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275 xNextWakeTime = xTaskGetTickCount();
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279 /* Place this task in the blocked state until it is time to run again.
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280 The block time is specified in ticks, the constant used converts ticks
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281 to ms. While in the Blocked state this task will not consume any CPU
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283 vTaskDelayUntil( &xNextWakeTime, mainQUEUE_SEND_FREQUENCY_MS );
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285 /* Send to the queue - causing the queue receive task to unblock and
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286 toggle an LED. 0 is used as the block time so the sending operation
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287 will not block - it shouldn't need to block as the queue should always
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288 be empty at this point in the code. */
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289 xQueueSend( xQueue, &ulValueToSend, mainDONT_BLOCK );
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292 /*-----------------------------------------------------------*/
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294 static void prvQueueReceiveTask( void *pvParameters )
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296 unsigned long ulReceivedValue;
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300 /* Wait until something arrives in the queue - this task will block
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301 indefinitely provided INCLUDE_vTaskSuspend is set to 1 in
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302 FreeRTOSConfig.h. */
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303 xQueueReceive( xQueue, &ulReceivedValue, portMAX_DELAY );
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305 /* To get here something must have been received from the queue, but
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306 is it the expected value? If it is, toggle the LED. */
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307 if( ulReceivedValue == 100UL )
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309 GPIOA_PTOR = mainTASK_CONTROLLED_LED;
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313 /*-----------------------------------------------------------*/
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315 static void prvSetupHardware( void )
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317 /* Enable the interrupt on SW1. */
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318 PORTE_PCR26 = PORT_PCR_MUX( 1 ) | PORT_PCR_IRQC( 0xA ) | PORT_PCR_PE_MASK | PORT_PCR_PS_MASK;
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319 enable_irq( mainGPIO_E_VECTOR );
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321 /* The interrupt calls an interrupt safe API function - so its priority must
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322 be equal to or lower than configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY. */
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323 set_irq_priority( mainGPIO_E_VECTOR, configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY );
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325 /* Set PTA10, PTA11, PTA28, and PTA29 (connected to LED's) for GPIO
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327 PORTA_PCR10 = ( 0 | PORT_PCR_MUX( 1 ) );
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328 PORTA_PCR11 = ( 0 | PORT_PCR_MUX( 1 ) );
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329 PORTA_PCR28 = ( 0 | PORT_PCR_MUX( 1 ) );
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330 PORTA_PCR29 = ( 0 | PORT_PCR_MUX( 1 ) );
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332 /* Change PTA10, PTA29 to outputs. */
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333 GPIOA_PDDR=GPIO_PDDR_PDD( mainTASK_CONTROLLED_LED | mainTIMER_CONTROLLED_LED );
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335 /* Start with LEDs off. */
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338 /*-----------------------------------------------------------*/
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340 void vApplicationMallocFailedHook( void )
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342 /* Called if a call to pvPortMalloc() fails because there is insufficient
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343 free memory available in the FreeRTOS heap. pvPortMalloc() is called
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344 internally by FreeRTOS API functions that create tasks, queues, software
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345 timers, and semaphores. The size of the FreeRTOS heap is set by the
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346 configTOTAL_HEAP_SIZE configuration constant in FreeRTOSConfig.h. */
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347 taskDISABLE_INTERRUPTS();
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350 /*-----------------------------------------------------------*/
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352 void vApplicationStackOverflowHook( xTaskHandle pxTask, signed char *pcTaskName )
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354 ( void ) pcTaskName;
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357 /* Run time stack overflow checking is performed if
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358 configCHECK_FOR_STACK_OVERFLOW is defined to 1 or 2. This hook
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359 function is called if a stack overflow is detected. */
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360 taskDISABLE_INTERRUPTS();
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363 /*-----------------------------------------------------------*/
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365 void vApplicationIdleHook( void )
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367 volatile size_t xFreeHeapSpace;
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369 /* This function is called on each cycle of the idle task. In this case it
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370 does nothing useful, other than report the amount of FreeRTOS heap that
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371 remains unallocated. */
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372 xFreeHeapSpace = xPortGetFreeHeapSize();
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374 if( xFreeHeapSpace > 100 )
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376 /* By now, the kernel has allocated everything it is going to, so
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377 if there is a lot of heap remaining unallocated then
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378 the value of configTOTAL_HEAP_SIZE in FreeRTOSConfig.h can be
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379 reduced accordingly. */
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382 /*-----------------------------------------------------------*/
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384 /* The Blinky build configuration does not include Ethernet functionality,
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385 however, the Full and Blinky build configurations share a vectors.h header file.
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386 Therefore, dummy Ethernet interrupt handers need to be defined to keep the
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388 void vEMAC_TxISRHandler( void ) {}
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389 void vEMAC_RxISRHandler( void ){}
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390 void vEMAC_ErrorISRHandler( void ) {}
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392 /* The Blinky build configuration does not include run time stats gathering,
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393 however, the Full and Blinky build configurations share a FreeRTOSConfig.h
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394 file. Therefore, dummy run time stats functions need to be defined to keep the
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396 void vMainConfigureTimerForRunTimeStats( void ) {}
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397 unsigned long ulMainGetRunTimeCounterValue( void ) { return 0UL; }
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399 /* A tick hook is used by the "Full" build configuration. The Full and blinky
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400 build configurations share a FreeRTOSConfig.h header file, so this simple build
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401 configuration also has to define a tick hook - even though it does not actually
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402 use it for anything. */
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403 void vApplicationTickHook( void ) {}
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