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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77 * Instead of the normal single demo application, the PIC18F demo is split
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78 * into several smaller programs of which this is the third. This enables the
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79 * demo's to be executed on the RAM limited PIC-devices.
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81 * The Demo3 project is configured for a PIC18F4620 device. Main.c starts 12
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82 * tasks (including the idle task). See the indicated files in the demo/common
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83 * directory for more information.
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85 * demo/common/minimal/integer.c: Creates 1 task
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86 * demo/common/minimal/BlockQ.c: Creates 6 tasks
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87 * demo/common/minimal/flash.c: Creates 3 tasks
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89 * Main.c also creates a check task. This periodically checks that all the
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90 * other tasks are still running and have not experienced any unexpected
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91 * results. If all the other tasks are executing correctly an LED is flashed
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92 * once every mainCHECK_PERIOD milliseconds. If any of the tasks have not
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93 * executed, or report an error, the frequency of the LED flash will increase
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94 * to mainERROR_FLASH_RATE.
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96 * On entry to main an 'X' is transmitted. Monitoring the serial port using a
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97 * dumb terminal allows for verification that the device is not continuously
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98 * being reset (no more than one 'X' should be transmitted).
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100 * http://www.FreeRTOS.org contains important information on the use of the
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101 * wizC PIC18F port.
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104 /* Scheduler include files. */
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105 #include <FreeRTOS.h>
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108 /* Demo app include files. */
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109 #include "integer.h"
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110 #include "BlockQ.h"
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112 #include "partest.h"
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113 #include "serial.h"
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115 /* The period between executions of the check task before and after an error
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116 has been discovered. If an error has been discovered the check task runs
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117 more frequently - increasing the LED flash rate. */
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118 #define mainNO_ERROR_CHECK_PERIOD ( ( TickType_t ) 10000 / portTICK_PERIOD_MS )
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119 #define mainERROR_CHECK_PERIOD ( ( TickType_t ) 1000 / portTICK_PERIOD_MS )
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120 #define mainCHECK_TASK_LED ( ( unsigned char ) 3 )
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122 /* Priority definitions for some of the tasks. Other tasks just use the idle
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124 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + ( unsigned char ) 3 )
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125 #define mainLED_FLASH_PRIORITY ( tskIDLE_PRIORITY + ( unsigned char ) 2 )
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126 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + ( unsigned char ) 1 )
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127 #define mainINTEGER_PRIORITY ( tskIDLE_PRIORITY + ( unsigned char ) 0 )
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129 /* Constants required for the communications. Only one character is ever
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131 #define mainCOMMS_QUEUE_LENGTH ( ( unsigned char ) 5 )
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132 #define mainNO_BLOCK ( ( TickType_t ) 0 )
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133 #define mainBAUD_RATE ( ( unsigned long ) 57600 )
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136 * The task function for the "Check" task.
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138 static portTASK_FUNCTION_PROTO( vErrorChecks, pvParameters );
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141 * Checks the unique counts of other tasks to ensure they are still operational.
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142 * Returns pdTRUE if an error is detected, otherwise pdFALSE.
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144 static char prvCheckOtherTasksAreStillRunning( void );
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146 /*-----------------------------------------------------------*/
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148 /* Creates the tasks, then starts the scheduler. */
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151 /* Initialise the required hardware. */
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152 vParTestInitialise();
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154 /* Send a character so we have some visible feedback of a reset. */
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155 xSerialPortInitMinimal( mainBAUD_RATE, mainCOMMS_QUEUE_LENGTH );
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156 xSerialPutChar( NULL, 'X', mainNO_BLOCK );
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158 /* Start the standard demo tasks found in the demo\common directory. */
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159 vStartIntegerMathTasks( mainINTEGER_PRIORITY);
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160 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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161 vStartLEDFlashTasks( mainLED_FLASH_PRIORITY );
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163 /* Start the check task defined in this file. */
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164 xTaskCreate( vErrorChecks, "Check", portMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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166 /* Start the scheduler. Will never return here. */
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167 vTaskStartScheduler( );
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169 while(1) /* This point should never be reached. */
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173 /*-----------------------------------------------------------*/
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175 static portTASK_FUNCTION( vErrorChecks, pvParameters )
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177 TickType_t xLastCheckTime;
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178 TickType_t xDelayTime = mainNO_ERROR_CHECK_PERIOD;
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179 char cErrorOccurred;
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181 /* We need to initialise xLastCheckTime prior to the first call to
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182 vTaskDelayUntil(). */
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183 xLastCheckTime = xTaskGetTickCount();
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185 /* Cycle for ever, delaying then checking all the other tasks are still
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186 operating without error. */
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189 /* Wait until it is time to check the other tasks again. */
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190 vTaskDelayUntil( &xLastCheckTime, xDelayTime );
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192 /* Check all the other tasks are running, and running without ever
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193 having an error. */
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194 cErrorOccurred = prvCheckOtherTasksAreStillRunning();
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196 /* If an error was detected increase the frequency of the LED flash. */
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197 if( cErrorOccurred == pdTRUE )
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199 xDelayTime = mainERROR_CHECK_PERIOD;
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202 /* Flash the LED for visual feedback. */
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203 vParTestToggleLED( mainCHECK_TASK_LED );
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207 /*-----------------------------------------------------------*/
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209 static char prvCheckOtherTasksAreStillRunning( void )
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211 char cErrorHasOccurred = ( char ) pdFALSE;
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213 if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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215 cErrorHasOccurred = ( char ) pdTRUE;
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218 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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220 cErrorHasOccurred = ( char ) pdTRUE;
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223 return cErrorHasOccurred;
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225 /*-----------------------------------------------------------*/
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