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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81 ******************************************************************************
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83 * main_full() creates all the demo application tasks and software timers, then
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84 * starts the scheduler. The web documentation provides more details of the
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85 * standard demo application tasks, which provide no particular functionality,
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86 * but do provide a good example of how to use the FreeRTOS API.
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88 * In addition to the standard demo tasks, the following tasks and tests are
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89 * defined and/or created within this file:
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91 * "Reg test" tasks - These fill both the microcontroller registers with known
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92 * values, then check that each register maintains its expected value for the
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93 * lifetime of the task. Each task uses a different set of values. The reg
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94 * test tasks execute with a very low priority, so get preempted very
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95 * frequently. A register containing an unexpected value is indicative of an
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96 * error in the context switching mechanism.
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98 * "Check" task - The check task period is initially set to three seconds. The
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99 * task checks that all the standard demo tasks, and the register check tasks,
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100 * are not only still executing, but are executing without reporting any errors.
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101 * If the check task discovers that a task has either stalled, or reported an
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102 * error, then it changes its own execution period from the initial three
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103 * seconds, to just 200ms. The check task also toggles an LED each time it is
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104 * called. This provides a visual indication of the system status: If the LED
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105 * toggles every three seconds, then no issues have been discovered. If the LED
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106 * toggles every 200ms, then an issue has been discovered with at least one
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110 /* Standard includes. */
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113 /* Kernel includes. */
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114 #include "FreeRTOS.h"
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116 #include "timers.h"
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117 #include "semphr.h"
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119 /* Standard demo application includes. */
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120 #include "dynamic.h"
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121 #include "blocktim.h"
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122 #include "countsem.h"
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123 #include "GenQTest.h"
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124 #include "recmutex.h"
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125 #include "partest.h"
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126 #include "EventGroupsDemo.h"
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127 #include "TaskNotify.h"
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129 /* Priorities for the check task, as described at the top of this file. */
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130 #define mainCHECK_TASK_PRIORITY ( configMAX_PRIORITIES - 1 )
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132 /* Parameters for the task that handles the UART command console. */
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133 #define mainCOMMAND_CONSOLE_TASK_PRIORITY ( tskIDLE_PRIORITY )
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134 #define mainCOMMAND_CONSOLE_STACK_SIZE ( configMINIMAL_STACK_SIZE * 2 )
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136 /* The LED used by the check timer as described at the top of this file. */
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137 #define mainCHECK_LED ( 0 )
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139 /* The period after which the check timer will expire, in ms, provided no errors
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140 have been reported by any of the standard demo tasks. ms are converted to the
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141 equivalent in ticks using the pdMS_TO_TICKS() macro. */
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142 #define mainNO_ERROR_CHECK_TASK_PERIOD pdMS_TO_TICKS( 3000 )
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144 /* The period at which the check timer will expire, in ms, if an error has been
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145 reported in one of the standard demo tasks. ms are converted to the equivalent
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146 in ticks using the pdMS_TO_TICKS() macro. */
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147 #define mainERROR_CHECK_TASK_PERIOD pdMS_TO_TICKS( 200 )
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149 /* Parameters that are passed into the register check tasks solely for the
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150 purpose of ensuring parameters are passed into tasks correctly. */
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151 #define mainREG_TEST_TASK_1_PARAMETER ( ( void * ) 0x1234 )
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152 #define mainREG_TEST_TASK_2_PARAMETER ( ( void * ) 0x8765 )
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154 /*-----------------------------------------------------------*/
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157 * Called by main() to run the full demo (as opposed to the blinky demo) when
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158 * mainCREATE_SIMPLE_BLINKY_DEMO_ONLY is set to 0.
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160 void main_full( void );
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163 * The check task, as described at the top of this file.
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165 static void prvCheckTask( void *pvParameters );
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168 * Register check tasks, as described at the top of this file. The nature of
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169 * these files necessitates that they are written in an assembly file, but the
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170 * entry points are kept in the C file for the convenience of checking the task
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173 static void prvRegTestTaskEntry1( void *pvParameters );
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174 extern void vRegTest1Implementation( void );
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175 static void prvRegTestTaskEntry2( void *pvParameters );
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176 extern void vRegTest2Implementation( void );
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178 /* Starts the 'standard' UART command console task. UART 0 is used at 19200
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180 extern void vUARTCommandConsoleStart( uint16_t usStackSize, UBaseType_t uxPriority );
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182 /* Registers a set of example commands that can be used in the command
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184 void vRegisterSampleCLICommands( void );
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186 /*-----------------------------------------------------------*/
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188 /* The following two variables are used to communicate the status of the
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189 register check tasks to the check task. If the variables keep incrementing,
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190 then the register check tasks have not discovered any errors. If a variable
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191 stops incrementing, then an error has been found. */
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192 volatile uint16_t usRegTest1LoopCounter = 0UL, usRegTest2LoopCounter = 0UL;
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194 /* cOutputBuffer is used by FreeRTOS+CLI. It is declared here so the
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195 persistent qualifier can be used. For the buffer to be declared here, rather
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196 than in FreeRTOS_CLI.c, configAPPLICATION_PROVIDES_cOutputBuffer must be set to
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197 1 in FreeRTOSConfig.h. */
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199 __persistent /* IAR version. */
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201 #pragma PERSISTENT( cOutputBuffer ) /* CCS version. */
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203 char cOutputBuffer[ configCOMMAND_INT_MAX_OUTPUT_SIZE ] = { 0 };
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205 /* Used for maintaining a 32-bit run time stats counter from a 16-bit timer. */
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206 volatile uint32_t ulRunTimeCounterOverflows = 0;
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208 /*-----------------------------------------------------------*/
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210 void main_full( void )
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212 /* Start all the standard demo/test tasks. They have no particular
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213 functionality, but do demonstrate how to use the FreeRTOS API and test the
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215 vStartDynamicPriorityTasks();
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216 vCreateBlockTimeTasks();
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217 vStartCountingSemaphoreTasks();
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218 vStartGenericQueueTasks( tskIDLE_PRIORITY );
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219 vStartRecursiveMutexTasks();
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220 vStartEventGroupTasks();
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221 vStartTaskNotifyTask();
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223 /* Create the register check tasks, as described at the top of this file */
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224 xTaskCreate( prvRegTestTaskEntry1, /* Task entry point. */
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225 "Reg1", /* Text name for the task - not used by the kernel. */
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226 configMINIMAL_STACK_SIZE, /* Stack to allocate to the task - in words not bytes! */
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227 mainREG_TEST_TASK_1_PARAMETER, /* The parameter passed into the task. */
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228 tskIDLE_PRIORITY, /* The task's priority. */
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229 NULL ); /* Task handle is not needed, so NULL is passed. */
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231 xTaskCreate( prvRegTestTaskEntry2, "Reg2", configMINIMAL_STACK_SIZE, mainREG_TEST_TASK_2_PARAMETER, tskIDLE_PRIORITY, NULL );
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233 /* Create the task that performs the 'check' functionality, as described at
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234 the top of this file. */
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235 xTaskCreate( prvCheckTask, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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237 /* Register an example set of CLI commands, then start the task that manages
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238 the CLI using a UART for input and output. */
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239 vRegisterSampleCLICommands();
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240 vUARTCommandConsoleStart( mainCOMMAND_CONSOLE_STACK_SIZE, mainCOMMAND_CONSOLE_TASK_PRIORITY );
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242 /* Start the scheduler. */
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243 vTaskStartScheduler();
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245 /* If all is well, the scheduler will now be running, and the following
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246 line will never be reached. If the following line does execute, then
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247 there was either insufficient FreeRTOS heap memory available for the idle
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248 and/or timer tasks to be created. See the memory management section on the
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249 FreeRTOS web site for more details on the FreeRTOS heap
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250 http://www.freertos.org/a00111.html. */
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253 /*-----------------------------------------------------------*/
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255 static void prvCheckTask( void *pvParameters )
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257 TickType_t xDelayPeriod = mainNO_ERROR_CHECK_TASK_PERIOD;
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258 TickType_t xLastExecutionTime;
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259 static uint16_t usLastRegTest1Value = 0, usLastRegTest2Value = 0;
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260 uint16_t usErrorFound = pdFALSE;
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262 /* Just to stop compiler warnings. */
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263 ( void ) pvParameters;
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265 /* Initialise xLastExecutionTime so the first call to vTaskDelayUntil()
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266 works correctly. */
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267 xLastExecutionTime = xTaskGetTickCount();
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269 /* Cycle for ever, delaying then checking all the other tasks are still
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270 operating without error. An on-board LED is toggled on each iteration.
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271 If an error is detected then the delay period is decreased from
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272 mainNO_ERROR_CHECK_TASK_PERIOD to mainERROR_CHECK_TASK_PERIOD. This has the
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273 effect of increasing the rate at which the on-board LED toggles, and in so
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274 doing gives visual feedback of the system status. */
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277 /* Delay until it is time to execute again. */
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278 vTaskDelayUntil( &xLastExecutionTime, xDelayPeriod );
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280 /* Check all the demo tasks to ensure they are all still running, and
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281 that none have detected an error. */
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282 if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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284 usErrorFound = 1UL << 0UL;
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287 if ( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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289 usErrorFound = 1UL << 1UL;
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292 if ( xAreGenericQueueTasksStillRunning() != pdTRUE )
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294 usErrorFound = 1UL << 2UL;
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297 if ( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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299 usErrorFound = 1UL << 3UL;
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302 if( xAreCountingSemaphoreTasksStillRunning() != pdTRUE )
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304 usErrorFound = 1UL << 4UL;
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307 if( xAreEventGroupTasksStillRunning() != pdPASS )
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309 usErrorFound = 1UL << 5UL;
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312 if( xAreTaskNotificationTasksStillRunning() != pdPASS )
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314 usErrorFound = 1UL << 6UL;
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317 /* Check that the register test 1 task is still running. */
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318 if( usLastRegTest1Value == usRegTest1LoopCounter )
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320 usErrorFound = 1UL << 7UL;
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322 usLastRegTest1Value = usRegTest1LoopCounter;
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324 /* Check that the register test 2 task is still running. */
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325 if( usLastRegTest2Value == usRegTest2LoopCounter )
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327 usErrorFound = 1UL << 8UL;
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329 usLastRegTest2Value = usRegTest2LoopCounter;
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331 /* Toggle the check LED to give an indication of the system status. If
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332 the LED toggles every mainNO_ERROR_CHECK_TASK_PERIOD milliseconds then
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333 everything is ok. A faster toggle indicates an error. */
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334 vParTestToggleLED( mainCHECK_LED );
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336 if( usErrorFound != pdFALSE )
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338 /* An error has been detected in one of the tasks - flash the LED
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339 at a higher frequency to give visible feedback that something has
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340 gone wrong (it might just be that the loop back connector required
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341 by the comtest tasks has not been fitted). */
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342 xDelayPeriod = mainERROR_CHECK_TASK_PERIOD;
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346 /*-----------------------------------------------------------*/
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348 static void prvRegTestTaskEntry1( void *pvParameters )
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350 /* Although the regtest task is written in assembler, its entry point is
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351 written in C for convenience of checking the task parameter is being passed
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353 if( pvParameters == mainREG_TEST_TASK_1_PARAMETER )
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355 /* Start the part of the test that is written in assembler. */
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356 vRegTest1Implementation();
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359 /* The following line will only execute if the task parameter is found to
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360 be incorrect. The check task will detect that the regtest loop counter is
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361 not being incremented and flag an error. */
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362 vTaskDelete( NULL );
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364 /*-----------------------------------------------------------*/
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366 static void prvRegTestTaskEntry2( void *pvParameters )
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368 /* Although the regtest task is written in assembler, its entry point is
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369 written in C for convenience of checking the task parameter is being passed
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371 if( pvParameters == mainREG_TEST_TASK_2_PARAMETER )
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373 /* Start the part of the test that is written in assembler. */
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374 vRegTest2Implementation();
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377 /* The following line will only execute if the task parameter is found to
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378 be incorrect. The check task will detect that the regtest loop counter is
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379 not being incremented and flag an error. */
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380 vTaskDelete( NULL );
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382 /*-----------------------------------------------------------*/
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384 void vConfigureTimerForRunTimeStats( void )
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386 /* Configure a timer that is used as the time base for run time stats. See
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387 http://www.freertos.org/rtos-run-time-stats.html */
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389 /* Ensure the timer is stopped. */
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392 /* Start up clean. */
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395 /* Run the timer from the ACLK/8, continuous mode, interrupt enable. */
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396 TA1CTL = TASSEL_1 | ID__8 | MC__CONTINUOUS | TAIE;
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398 /*-----------------------------------------------------------*/
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400 #pragma vector=TIMER1_A1_VECTOR
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401 __interrupt void v4RunTimeStatsTimerOverflow( void )
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405 /* 16-bit overflow, so add 17th bit. */
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406 ulRunTimeCounterOverflows += 0x10000;
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407 __bic_SR_register_on_exit( SCG1 + SCG0 + OSCOFF + CPUOFF );
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