2 FreeRTOS V8.2.2 - Copyright (C) 2015 Real Time Engineers Ltd.
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5 VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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7 This file is part of the FreeRTOS distribution.
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9 FreeRTOS is free software; you can redistribute it and/or modify it under
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10 the terms of the GNU General Public License (version 2) as published by the
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11 Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
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13 ***************************************************************************
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14 >>! NOTE: The modification to the GPL is included to allow you to !<<
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15 >>! distribute a combined work that includes FreeRTOS without being !<<
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16 >>! obliged to provide the source code for proprietary components !<<
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17 >>! outside of the FreeRTOS kernel. !<<
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18 ***************************************************************************
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20 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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21 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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22 FOR A PARTICULAR PURPOSE. Full license text is available on the following
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23 link: http://www.freertos.org/a00114.html
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25 ***************************************************************************
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27 * FreeRTOS provides completely free yet professionally developed, *
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28 * robust, strictly quality controlled, supported, and cross *
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29 * platform software that is more than just the market leader, it *
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30 * is the industry's de facto standard. *
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32 * Help yourself get started quickly while simultaneously helping *
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33 * to support the FreeRTOS project by purchasing a FreeRTOS *
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34 * tutorial book, reference manual, or both: *
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35 * http://www.FreeRTOS.org/Documentation *
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37 ***************************************************************************
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39 http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
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40 the FAQ page "My application does not run, what could be wrong?". Have you
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41 defined configASSERT()?
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43 http://www.FreeRTOS.org/support - In return for receiving this top quality
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44 embedded software for free we request you assist our global community by
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45 participating in the support forum.
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47 http://www.FreeRTOS.org/training - Investing in training allows your team to
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48 be as productive as possible as early as possible. Now you can receive
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49 FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
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50 Ltd, and the world's leading authority on the world's leading RTOS.
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52 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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53 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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54 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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56 http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
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57 Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
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59 http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
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60 Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
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61 licenses offer ticketed support, indemnification and commercial middleware.
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63 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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64 engineered and independently SIL3 certified version for use in safety and
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65 mission critical applications that require provable dependability.
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70 /******************************************************************************
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71 * NOTE 1: This project provides two demo applications. A simple blinky style
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72 * project, and a more comprehensive test and demo application. The
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73 * mainCREATE_SIMPLE_BLINKY_DEMO_ONLY setting in main.c is used to select
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74 * between the two. See the notes on using mainCREATE_SIMPLE_BLINKY_DEMO_ONLY
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75 * in main.c. This file implements the comprehensive test and demo 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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80 ******************************************************************************
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82 * main_full() creates all the demo application tasks and software timers,
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83 * then starts the scheduler. The web documentation provides more details of
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84 * the standard demo application tasks, which provide no particular
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85 * functionality, but do provide a good example of how to use the FreeRTOS API.
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87 * In addition to the standard demo tasks, the following tasks and tests are
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88 * defined and/or created within this file:
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90 * "Check" timer - The check software timer period is set to three seconds.
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91 * The callback function associated with the check software timer checks that
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92 * all the standard demo tasks are not only still executing, but are executing
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93 * without reporting any errors. If the check software timer discovers that a
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94 * task has either stalled, or reported an error, then the error is logged and
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95 * the check software timer toggles the red LEDs. If an error has never been
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96 * latched, the check software timer toggles the green LEDs. Therefore, if the
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97 * system is executing correctly, the green LEDs will toggle every three
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98 * seconds, and if an error has ever been detected, the red LEDs will toggle
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99 * every three seconds.
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101 * "Reg test" tasks - These fill both the core and floating point registers
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102 * with known values, then check that each register maintains its expected
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103 * value for the lifetime of the tasks. Each task uses a different set of
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104 * values. The reg test tasks execute with a very low priority, so get
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105 * preempted very frequently. A register containing an unexpected value is
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106 * indicative of an error in the context switching mechanism.
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108 * "LED" software timer - The callback function associated with the LED
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109 * software time maintains a pattern of spinning white LEDs.
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111 * See the documentation page for this demo on the FreeRTOS.org web site for
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112 * full information, including hardware setup requirements.
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115 /* Standard includes. */
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118 /* Kernel includes. */
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119 #include "FreeRTOS.h"
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121 #include "timers.h"
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122 #include "semphr.h"
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124 /* Standard demo application includes. */
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125 #include "integer.h"
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127 #include "semtest.h"
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128 #include "dynamic.h"
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129 #include "BlockQ.h"
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130 #include "blocktim.h"
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131 #include "countsem.h"
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132 #include "GenQTest.h"
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133 #include "recmutex.h"
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135 #include "partest.h"
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137 #include "serial.h"
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138 #include "comtest.h"
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140 /* Priorities for the demo application tasks. */
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141 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2UL )
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142 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1UL )
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143 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2UL )
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144 #define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3UL )
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145 #define mainFLOP_TASK_PRIORITY ( tskIDLE_PRIORITY )
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146 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
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147 #define mainFLOP_TASK_PRIORITY ( tskIDLE_PRIORITY )
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149 /* A block time of zero simply means "don't block". */
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150 #define mainDONT_BLOCK ( 0UL )
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152 /* The period after which the check timer will expire, converted to ticks. */
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153 #define mainCHECK_TIMER_PERIOD_MS ( 3000UL / portTICK_PERIOD_MS )
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155 /* The period after which the LED timer will expire, converted to ticks. */
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156 #define mainLED_TIMER_PERIOD_MS ( 75UL / portTICK_PERIOD_MS )
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158 /* Constants for the ComTest tasks. */
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159 #define mainCOM_TEST_BAUD_RATE ( ( unsigned long ) 19200 )
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160 #define mainCOM_TEST_LED ( 100 )
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162 /*-----------------------------------------------------------*/
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165 * The check timer callback function, as described at the top of this file.
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167 static void prvCheckTimerCallback( TimerHandle_t xTimer );
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170 * The LED timer callback function, as described at the top of this file.
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172 static void prvLEDTimerCallback( TimerHandle_t xTimer );
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175 * The reg test tasks, as described at the top of this file.
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177 extern void vRegTestTask1( void *pvParameters );
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178 extern void vRegTestTask2( void *pvParameters );
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180 /*-----------------------------------------------------------*/
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182 /* Variables that are incremented on each iteration of the reg test tasks -
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183 provided the tasks have not reported any errors. The check task inspects these
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184 variables to ensure they are still incrementing as expected. If a variable
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185 stops incrementing then it is likely that its associate task has stalled. */
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186 volatile unsigned long ulRegTest1Counter = 0, ulRegTest2Counter = 0;
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188 /*-----------------------------------------------------------*/
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190 void main_full( void )
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192 TimerHandle_t xTimer = NULL;
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194 /* Start all the standard demo/test tasks. These have not particular
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195 functionality, but do demonstrate how to use the FreeRTOS API, and test the
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197 vStartIntegerMathTasks( tskIDLE_PRIORITY );
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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 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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205 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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206 vStartMathTasks( mainFLOP_TASK_PRIORITY );
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207 vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
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209 /* Create the register test tasks, as described at the top of this file. */
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210 xTaskCreate( vRegTestTask1, "Reg1...", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
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211 xTaskCreate( vRegTestTask2, "Reg2...", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
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214 /* Create the software timer that performs the 'check' functionality,
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215 as described at the top of this file. */
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216 xTimer = xTimerCreate( "CheckTimer", /* A text name, purely to help debugging. */
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217 ( mainCHECK_TIMER_PERIOD_MS ), /* The timer period, in this case 3000ms (3s). */
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218 pdTRUE, /* This is an auto-reload timer, so xAutoReload is set to pdTRUE. */
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219 ( void * ) 0, /* The ID is not used, so can be set to anything. */
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220 prvCheckTimerCallback /* The callback function that inspects the status of all the other tasks. */
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223 if( xTimer != NULL )
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225 xTimerStart( xTimer, mainDONT_BLOCK );
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228 /* Create the software timer that performs the 'LED spin' functionality,
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229 as described at the top of this file. */
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230 xTimer = xTimerCreate( "LEDTimer", /* A text name, purely to help debugging. */
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231 ( mainLED_TIMER_PERIOD_MS ),/* The timer period, in this case 75ms. */
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232 pdTRUE, /* This is an auto-reload timer, so xAutoReload is set to pdTRUE. */
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233 ( void * ) 0, /* The ID is not used, so can be set to anything. */
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234 prvLEDTimerCallback /* The callback function that toggles the white LEDs. */
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237 if( xTimer != NULL )
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239 xTimerStart( xTimer, mainDONT_BLOCK );
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242 /* The set of tasks created by the following function call have to be
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243 created last as they keep account of the number of tasks they expect to see
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245 vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
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247 /* Start the scheduler. */
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248 vTaskStartScheduler();
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250 /* If all is well, the scheduler will now be running, and the following line
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251 will never be reached. If the following line does execute, then there was
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252 insufficient FreeRTOS heap memory available for the idle and/or timer tasks
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253 to be created. See the memory management section on the FreeRTOS web site
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254 for more details. */
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257 /*-----------------------------------------------------------*/
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259 static void prvCheckTimerCallback( TimerHandle_t xTimer )
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261 static long lChangeToRedLEDsAlready = pdFALSE;
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262 static unsigned long ulLastRegTest1Counter = 0, ulLastRegTest2Counter = 0;
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263 unsigned long ulErrorFound = pdFALSE;
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264 /* LEDs are defaulted to use the Green LEDs. The Red LEDs are used if an error
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266 static unsigned long ulLED1 = 8, ulLED2 = 11;
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267 const unsigned long ulRedLED1 = 6, ulRedLED2 = 9;
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269 /* Check all the demo tasks (other than the flash tasks) to ensure
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270 they are all still running, and that none have detected an error. */
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272 if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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274 ulErrorFound = pdTRUE;
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277 if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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279 ulErrorFound = pdTRUE;
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282 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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284 ulErrorFound = pdTRUE;
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287 if ( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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289 ulErrorFound = pdTRUE;
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292 if ( xAreGenericQueueTasksStillRunning() != pdTRUE )
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294 ulErrorFound = pdTRUE;
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297 if ( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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299 ulErrorFound = pdTRUE;
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302 if( xIsCreateTaskStillRunning() != pdTRUE )
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304 ulErrorFound = pdTRUE;
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307 if( xArePollingQueuesStillRunning() != pdTRUE )
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309 ulErrorFound = pdTRUE;
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312 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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314 ulErrorFound = pdTRUE;
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317 if( xAreMathsTaskStillRunning() != pdTRUE )
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319 ulErrorFound = pdTRUE;
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322 if( xAreComTestTasksStillRunning() != pdTRUE )
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324 ulErrorFound = pdTRUE;
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327 /* Check the reg test tasks are still cycling. They will stop
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328 incrementing their loop counters if they encounter an error. */
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329 if( ulRegTest1Counter == ulLastRegTest1Counter )
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331 ulErrorFound = pdTRUE;
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334 if( ulRegTest2Counter == ulLastRegTest2Counter )
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336 ulErrorFound = pdTRUE;
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339 ulLastRegTest1Counter = ulRegTest1Counter;
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340 ulLastRegTest2Counter = ulRegTest2Counter;
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342 /* Toggle the check LEDs to give an indication of the system status. If
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343 the green LEDs are toggling, then no errors have been detected. If the red
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344 LEDs are toggling, then an error has been reported in at least one task. */
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345 vParTestToggleLED( ulLED1 );
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346 vParTestToggleLED( ulLED2 );
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348 /* Have any errors been latch in ulErrorFound? If so, ensure the gree LEDs
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349 are off, then switch to using the red LEDs. */
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350 if( ulErrorFound != pdFALSE )
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352 if( lChangeToRedLEDsAlready == pdFALSE )
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354 lChangeToRedLEDsAlready = pdTRUE;
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356 /* An error has been found. Switch to use the red LEDs. */
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357 vParTestSetLED( ulLED1, pdFALSE );
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358 vParTestSetLED( ulLED2, pdFALSE );
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359 ulLED1 = ulRedLED1;
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360 ulLED2 = ulRedLED2;
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364 /*-----------------------------------------------------------*/
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366 static void prvLEDTimerCallback( TimerHandle_t xTimer )
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368 const unsigned long ulNumWhiteLEDs = 6;
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369 static unsigned long ulLit1 = 2, ulLit2 = 1;
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371 vParTestSetLED( ulLit2, pdFALSE );
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376 if( ulLit1 >= ulNumWhiteLEDs )
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381 vParTestSetLED( ulLit1, pdTRUE );
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383 /*-----------------------------------------------------------*/
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