2 FreeRTOS V7.4.2 - 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 * This demo application file demonstrates the use of queues to pass data
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77 * between co-routines.
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79 * N represents the number of 'fixed delay' co-routines that are created and
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80 * is set during initialisation.
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82 * N 'fixed delay' co-routines are created that just block for a fixed
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83 * period then post the number of an LED onto a queue. Each such co-routine
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84 * uses a different block period. A single 'flash' co-routine is also created
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85 * that blocks on the same queue, waiting for the number of the next LED it
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86 * should flash. Upon receiving a number it simply toggle the instructed LED
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87 * then blocks on the queue once more. In this manner each LED from LED 0 to
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88 * LED N-1 is caused to flash at a different rate.
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90 * The 'fixed delay' co-routines are created with co-routine priority 0. The
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91 * flash co-routine is created with co-routine priority 1. This means that
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92 * the queue should never contain more than a single item. This is because
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93 * posting to the queue will unblock the 'flash' co-routine, and as this has
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94 * a priority greater than the tasks posting to the queue it is guaranteed to
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95 * have emptied the queue and blocked once again before the queue can contain
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96 * any more date. An error is indicated if an attempt to post data to the
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97 * queue fails - indicating that the queue is already full.
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101 /* Scheduler includes. */
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102 #include "FreeRTOS.h"
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103 #include "croutine.h"
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106 /* Demo application includes. */
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107 #include "partest.h"
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108 #include "crflash.h"
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110 /* The queue should only need to be of length 1. See the description at the
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111 top of the file. */
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112 #define crfQUEUE_LENGTH 1
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114 #define crfFIXED_DELAY_PRIORITY 0
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115 #define crfFLASH_PRIORITY 1
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117 /* Only one flash co-routine is created so the index is not significant. */
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118 #define crfFLASH_INDEX 0
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120 /* Don't allow more than crfMAX_FLASH_TASKS 'fixed delay' co-routines to be
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122 #define crfMAX_FLASH_TASKS 8
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124 /* We don't want to block when posting to the queue. */
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125 #define crfPOSTING_BLOCK_TIME 0
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128 * The 'fixed delay' co-routine as described at the top of the file.
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130 static void prvFixedDelayCoRoutine( xCoRoutineHandle xHandle, unsigned portBASE_TYPE uxIndex );
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133 * The 'flash' co-routine as described at the top of the file.
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135 static void prvFlashCoRoutine( xCoRoutineHandle xHandle, unsigned portBASE_TYPE uxIndex );
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137 /* The queue used to pass data between the 'fixed delay' co-routines and the
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138 'flash' co-routine. */
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139 static xQueueHandle xFlashQueue;
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141 /* This will be set to pdFALSE if we detect an error. */
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142 static portBASE_TYPE xCoRoutineFlashStatus = pdPASS;
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144 /*-----------------------------------------------------------*/
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147 * See the header file for details.
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149 void vStartFlashCoRoutines( unsigned portBASE_TYPE uxNumberToCreate )
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151 unsigned portBASE_TYPE uxIndex;
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153 if( uxNumberToCreate > crfMAX_FLASH_TASKS )
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155 uxNumberToCreate = crfMAX_FLASH_TASKS;
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158 /* Create the queue used to pass data between the co-routines. */
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159 xFlashQueue = xQueueCreate( crfQUEUE_LENGTH, sizeof( unsigned portBASE_TYPE ) );
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163 /* Create uxNumberToCreate 'fixed delay' co-routines. */
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164 for( uxIndex = 0; uxIndex < uxNumberToCreate; uxIndex++ )
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166 xCoRoutineCreate( prvFixedDelayCoRoutine, crfFIXED_DELAY_PRIORITY, uxIndex );
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169 /* Create the 'flash' co-routine. */
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170 xCoRoutineCreate( prvFlashCoRoutine, crfFLASH_PRIORITY, crfFLASH_INDEX );
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173 /*-----------------------------------------------------------*/
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175 static void prvFixedDelayCoRoutine( xCoRoutineHandle xHandle, unsigned portBASE_TYPE uxIndex )
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177 /* Even though this is a co-routine the xResult variable does not need to be
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178 static as we do not need it to maintain its state between blocks. */
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179 signed portBASE_TYPE xResult;
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180 /* The uxIndex parameter of the co-routine function is used as an index into
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181 the xFlashRates array to obtain the delay period to use. */
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182 static const portTickType xFlashRates[ crfMAX_FLASH_TASKS ] = { 150 / portTICK_RATE_MS,
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183 200 / portTICK_RATE_MS,
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184 250 / portTICK_RATE_MS,
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185 300 / portTICK_RATE_MS,
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186 350 / portTICK_RATE_MS,
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187 400 / portTICK_RATE_MS,
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188 450 / portTICK_RATE_MS,
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189 500 / portTICK_RATE_MS };
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191 /* Co-routines MUST start with a call to crSTART. */
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192 crSTART( xHandle );
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196 /* Post our uxIndex value onto the queue. This is used as the LED to
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198 crQUEUE_SEND( xHandle, xFlashQueue, ( void * ) &uxIndex, crfPOSTING_BLOCK_TIME, &xResult );
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200 if( xResult != pdPASS )
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202 /* For the reasons stated at the top of the file we should always
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203 find that we can post to the queue. If we could not then an error
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205 xCoRoutineFlashStatus = pdFAIL;
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208 crDELAY( xHandle, xFlashRates[ uxIndex ] );
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211 /* Co-routines MUST end with a call to crEND. */
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214 /*-----------------------------------------------------------*/
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216 static void prvFlashCoRoutine( xCoRoutineHandle xHandle, unsigned portBASE_TYPE uxIndex )
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218 /* Even though this is a co-routine the variable do not need to be
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219 static as we do not need it to maintain their state between blocks. */
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220 signed portBASE_TYPE xResult;
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221 unsigned portBASE_TYPE uxLEDToFlash;
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223 /* Co-routines MUST start with a call to crSTART. */
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224 crSTART( xHandle );
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229 /* Block to wait for the number of the LED to flash. */
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230 crQUEUE_RECEIVE( xHandle, xFlashQueue, &uxLEDToFlash, portMAX_DELAY, &xResult );
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232 if( xResult != pdPASS )
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234 /* We would not expect to wake unless we received something. */
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235 xCoRoutineFlashStatus = pdFAIL;
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239 /* We received the number of an LED to flash - flash it! */
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240 vParTestToggleLED( uxLEDToFlash );
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244 /* Co-routines MUST end with a call to crEND. */
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247 /*-----------------------------------------------------------*/
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249 portBASE_TYPE xAreFlashCoRoutinesStillRunning( void )
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251 /* Return pdPASS or pdFAIL depending on whether an error has been detected
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253 return xCoRoutineFlashStatus;
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