2 FreeRTOS V9.0.0 - Copyright (C) 2016 Real Time Engineers Ltd.
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5 VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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7 This file is part of the FreeRTOS distribution.
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9 FreeRTOS is free software; you can redistribute it and/or modify it under
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10 the terms of the GNU General Public License (version 2) as published by the
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11 Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception.
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13 ***************************************************************************
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14 >>! NOTE: The modification to the GPL is included to allow you to !<<
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15 >>! distribute a combined work that includes FreeRTOS without being !<<
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16 >>! obliged to provide the source code for proprietary components !<<
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17 >>! outside of the FreeRTOS kernel. !<<
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18 ***************************************************************************
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20 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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21 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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22 FOR A PARTICULAR PURPOSE. Full license text is available on the following
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23 link: http://www.freertos.org/a00114.html
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25 ***************************************************************************
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27 * FreeRTOS provides completely free yet professionally developed, *
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28 * robust, strictly quality controlled, supported, and cross *
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29 * platform software that is more than just the market leader, it *
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30 * is the industry's de facto standard. *
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32 * Help yourself get started quickly while simultaneously helping *
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33 * to support the FreeRTOS project by purchasing a FreeRTOS *
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34 * tutorial book, reference manual, or both: *
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35 * http://www.FreeRTOS.org/Documentation *
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37 ***************************************************************************
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39 http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
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40 the FAQ page "My application does not run, what could be wrong?". Have you
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41 defined configASSERT()?
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43 http://www.FreeRTOS.org/support - In return for receiving this top quality
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44 embedded software for free we request you assist our global community by
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45 participating in the support forum.
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47 http://www.FreeRTOS.org/training - Investing in training allows your team to
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48 be as productive as possible as early as possible. Now you can receive
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49 FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
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50 Ltd, and the world's leading authority on the world's leading RTOS.
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52 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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53 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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54 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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56 http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
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57 Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
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59 http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
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60 Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
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61 licenses offer ticketed support, indemnification and commercial middleware.
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63 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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64 engineered and independently SIL3 certified version for use in safety and
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65 mission critical applications that require provable dependability.
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71 * THIS DEMO APPLICATION REQUIRES A LOOPBACK CONNECTOR TO BE FITTED TO THE PIC
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72 * USART PORT - connect pin 2 to pin 3 on J2.
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74 * Instead of the normal single demo application, the PIC18F demo is split
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75 * into several smaller programs of which this is the third. This enables the
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76 * demo's to be executed on the RAM limited 40 pin devices. The 64 and 80 pin
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77 * devices require a more costly development platform and are not so readily
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80 * The RTOSDemo3 project is configured for a PIC18F452 device. Main3.c starts
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81 * 5 tasks (including the idle task).
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83 * The first task repeatedly transmits a string of characters on the PIC USART
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84 * port. The second task receives the characters, checking that the correct
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85 * sequence is maintained (i.e. what is transmitted is identical to that
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86 * received). Each transmitted and each received character causes an LED to
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87 * flash. See demo/common/minimal/comtest. c for more information.
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89 * The third task continuously performs a 32 bit calculation. This is a good
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90 * test of the context switch mechanism as the 8 bit architecture requires
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91 * the use of several file registers to perform the 32 bit operations. See
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92 * demo/common/minimal/integer. c for more information.
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94 * The third task is the check task. This periodically checks that the other
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95 * tasks are still running and have not experienced any errors. If no errors
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96 * have been reported by either the comms or integer tasks an LED is flashed
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97 * with a frequency mainNO_ERROR_CHECK_PERIOD. If an error is discovered the
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98 * frequency is increased to mainERROR_FLASH_RATE.
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100 * The check task also provides a visual indication of a system reset by
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101 * flashing the one remaining LED (mainRESET_LED) when it starts. After
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102 * this initial flash mainRESET_LED should remain off.
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104 * http://www.FreeRTOS.org contains important information on the use of the
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109 Changes from V2.0.0
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111 + Delay periods are now specified using variables and constants of
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112 TickType_t rather than unsigned long.
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115 /* Scheduler include files. */
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116 #include "FreeRTOS.h"
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119 /* Demo app include files. */
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120 #include "partest.h"
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121 #include "serial.h"
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122 #include "comtest.h"
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123 #include "integer.h"
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125 /* Priority definitions for the LED tasks. Other tasks just use the idle
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127 #define mainCOMM_TEST_PRIORITY ( tskIDLE_PRIORITY + ( unsigned portBASE_TYPE ) 2 )
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128 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + ( unsigned portBASE_TYPE ) 3 )
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130 /* The period between executions of the check task before and after an error
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131 has been discovered. If an error has been discovered the check task runs
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132 more frequently - increasing the LED flash rate. */
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133 #define mainNO_ERROR_CHECK_PERIOD ( ( TickType_t ) 1000 / portTICK_PERIOD_MS )
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134 #define mainERROR_CHECK_PERIOD ( ( TickType_t ) 100 / portTICK_PERIOD_MS )
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136 /* The period for which mainRESET_LED remain on every reset. */
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137 #define mainRESET_LED_PERIOD ( ( TickType_t ) 500 / portTICK_PERIOD_MS )
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139 /* The LED that is toggled whenever a character is transmitted.
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140 mainCOMM_TX_RX_LED + 1 will be toggled every time a character is received. */
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141 #define mainCOMM_TX_RX_LED ( ( unsigned portBASE_TYPE ) 2 )
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143 /* The LED that is flashed by the check task at a rate that indicates the
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145 #define mainCHECK_TASK_LED ( ( unsigned portBASE_TYPE ) 1 )
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147 /* The LED that is flashed once upon every reset. */
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148 #define mainRESET_LED ( ( unsigned portBASE_TYPE ) 0 )
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150 /* Constants required for the communications. */
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151 #define mainCOMMS_QUEUE_LENGTH ( ( unsigned portBASE_TYPE ) 5 )
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152 #define mainBAUD_RATE ( ( unsigned long ) 57600 )
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153 /*-----------------------------------------------------------*/
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156 * Task function which periodically checks the other tasks for errors. Flashes
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157 * an LED at a rate that indicates whether an error has ever been detected.
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159 static void vErrorChecks( void *pvParameters );
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161 /*-----------------------------------------------------------*/
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163 /* Creates the tasks, then starts the scheduler. */
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166 /* Initialise the required hardware. */
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167 vParTestInitialise();
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169 /* Initialise the block memory allocator. */
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170 vPortInitialiseBlocks();
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172 /* Start the standard comtest tasks as defined in demo/common/minimal. */
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173 vAltStartComTestTasks( mainCOMM_TEST_PRIORITY, mainBAUD_RATE, mainCOMM_TX_RX_LED );
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175 /* Start the standard 32bit calculation task as defined in
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176 demo/common/minimal. */
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177 vStartIntegerMathTasks( tskIDLE_PRIORITY );
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179 /* Start the check task defined in this file. */
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180 xTaskCreate( vErrorChecks, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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182 /* Start the scheduler. This will never return. */
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183 vTaskStartScheduler();
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185 /*-----------------------------------------------------------*/
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187 static void vErrorChecks( void *pvParameters )
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189 TickType_t xDelayTime = mainNO_ERROR_CHECK_PERIOD;
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190 volatile unsigned long ulDummy = 3UL;
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192 /* Toggle the LED so we can see when a reset occurs. */
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193 vParTestSetLED( mainRESET_LED, pdTRUE );
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194 vTaskDelay( mainRESET_LED_PERIOD );
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195 vParTestSetLED( mainRESET_LED, pdFALSE );
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197 /* Cycle for ever, delaying then checking all the other tasks are still
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198 operating without error. */
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201 /* Wait until it is time to check the other tasks. */
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202 vTaskDelay( xDelayTime );
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204 /* Perform an integer calculation - just to ensure the registers
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205 get used. The result is not important. */
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208 /* Check all the other tasks are running, and running without ever
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209 having an error. The delay period is lowered if an error is reported,
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210 causing the LED to flash at a higher rate. */
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211 if( xAreIntegerMathsTaskStillRunning() == pdFALSE )
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213 xDelayTime = mainERROR_CHECK_PERIOD;
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216 if( xAreComTestTasksStillRunning() == pdFALSE )
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218 xDelayTime = mainERROR_CHECK_PERIOD;
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221 /* Flash the LED for visual feedback. The rate of the flash will
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222 indicate the health of the system. */
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223 vParTestToggleLED( mainCHECK_TASK_LED );
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226 /*-----------------------------------------------------------*/
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