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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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, then
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83 * starts the scheduler. The WEB documentation provides more details of the
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84 * standard demo application tasks. In addition to the standard demo tasks, the
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85 * following tasks and tests are defined and/or created within this file:
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87 * "LCD" task - the LCD task is a 'gatekeeper' task. It is the only task that
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88 * is permitted to access the display directly. Other tasks wishing to write a
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89 * message to the LCD send the message on a queue to the LCD task instead of
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90 * accessing the LCD themselves. The LCD task just blocks on the queue waiting
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91 * for messages - waking and displaying the messages as they arrive.
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92 * **NOTE** The LCD driver has a dependency on the PLIB library, which is no
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93 * longer provided by Microchip, so LCD functionality has been removed from this
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94 * demo - however the source files remain in the distribution.
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96 * "Check" timer - The check software timer period is initially set to three
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97 * seconds. The callback function associated with the check software timer
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98 * checks that all the standard demo tasks, and the register check tasks, are
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99 * not only still executing, but are executing without reporting any errors. If
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100 * the check software timer discovers that a task has either stalled, or
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101 * reported an error, then it changes its own execution period from the initial
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102 * three seconds, to just 200ms. The check software timer callback function
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103 * also writes a status message to the LCD (via the LCD task). If all the demo
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104 * tasks are executing with their expected behaviour then the check task writes
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105 * a count of the number of times the high frequency interrupt has incremented
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106 * ulHighFrequencyTimerInterrupts - which is one in every 20,000 interrupts.
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108 * "Register test" tasks - These tasks are used in part to test the kernel port.
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109 * They set each processor register to a known value, then check that the
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110 * register still contains that value. Each of the tasks sets the registers
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111 * to different values, and will get swapping in and out between setting and
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112 * then subsequently checking the register values. Discovery of an incorrect
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113 * value would be indicative of an error in the task switching mechanism.
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115 * By way of demonstration, the demo application defines
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116 * configMAX_SYSCALL_INTERRUPT_PRIORITY to be 3, configKERNEL_INTERRUPT_PRIORITY
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117 * to be 1, and all other interrupts as follows:
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119 * + The UART is allocated a priority of 2. This means it can interrupt the
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120 * RTOS tick, and can also safely use queues.
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121 * **NOTE** The UART driver has a dependency on the PLIB library, which is no
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122 * longer provided by Microchip, so UART functionality has been removed from
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123 * this demo - however the source files remain in the distribution.
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125 * + Two timers are configured to generate interrupts just to test the nesting
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126 * and queue access mechanisms. These timers are allocated priorities 2 and 3
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127 * respectively. Even though they both access the same two queues, the
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128 * priority 3 interrupt can safely interrupt the priority 2 interrupt. Both
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129 * can interrupt the RTOS tick.
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130 * + Finally a high frequency timer interrupt is configured to use priority 4 -
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131 * therefore kernel activity will never prevent the high frequency timer from
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132 * executing immediately that the interrupt is raised (within the limitations
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133 * of the hardware itself). It would not be safe to access a queue from this
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134 * interrupt as it is above configMAX_SYSCALL_INTERRUPT_PRIORITY.
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136 * See the online documentation for this demo for more information on interrupt
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140 /* Standard includes. */
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143 /* Scheduler includes. */
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144 #include "FreeRTOS.h"
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147 #include "timers.h"
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149 /* Demo application includes. */
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150 #include "partest.h"
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151 #include "blocktim.h"
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152 #include "flash_timer.h"
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153 #include "semtest.h"
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154 #include "GenQTest.h"
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157 #include "timertest.h"
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158 #include "IntQueue.h"
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160 /*-----------------------------------------------------------*/
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162 /* The period after which the check timer will expire, in ms, provided no errors
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163 have been reported by any of the standard demo tasks. ms are converted to the
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164 equivalent in ticks using the portTICK_PERIOD_MS constant. */
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165 #define mainCHECK_TIMER_PERIOD_MS ( 3000UL / portTICK_PERIOD_MS )
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167 /* The period at which the check timer will expire, in ms, if an error has been
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168 reported in one of the standard demo tasks. ms are converted to the equivalent
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169 in ticks using the portTICK_PERIOD_MS constant. */
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170 #define mainERROR_CHECK_TIMER_PERIOD_MS ( 200UL / portTICK_PERIOD_MS )
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172 /* The priorities of the various demo application tasks. */
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173 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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174 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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175 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
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176 #define mainINTEGER_TASK_PRIORITY ( tskIDLE_PRIORITY )
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177 #define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )
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180 #define mainDONT_BLOCK ( 0 )
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182 /* Dimension the buffer used to hold the value of the high frequency timer
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183 count when it is converted to a string. */
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184 #define mainMAX_STRING_LENGTH ( 20 )
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186 /* The frequency at which the "fast interrupt test" interrupt will occur. */
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187 #define mainTEST_INTERRUPT_FREQUENCY ( 20000 )
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189 /* The number of timer clocks expected to occur between each "fast interrupt
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190 test" interrupt. */
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191 #define mainEXPECTED_CLOCKS_BETWEEN_INTERRUPTS ( ( configCPU_CLOCK_HZ >> 1 ) / mainTEST_INTERRUPT_FREQUENCY )
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193 /* The number of nano seconds between each core clock. */
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194 #define mainNS_PER_CLOCK ( ( unsigned long ) ( ( 1.0 / ( double ) ( configCPU_CLOCK_HZ >> 1 ) ) * 1000000000.0 ) )
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196 /* The number of LEDs that should be controlled by the flash software timer
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197 standard demo and the LED to be toggle by the check task. The starter kit only
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198 has three LEDs so when the demo is configured to run on the starter kit there
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199 is one less flash timer so the check task can use the third LED. */
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200 #ifdef PIC32_STARTER_KIT
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201 #define mainNUM_FLASH_TIMER_LEDS ( 2 )
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202 #define mainCHECK_LED ( 2 )
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204 #define mainNUM_FLASH_TIMER_LEDS ( 3 )
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205 #define mainCHECK_LED ( 7 )
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208 /*-----------------------------------------------------------*/
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211 * The check timer callback function, as described at the top of this file.
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213 static void prvCheckTimerCallback( TimerHandle_t xTimer );
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216 * It is important to ensure the high frequency timer test does not start before
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217 * the kernel. It is therefore started from inside a software timer callback
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218 * function, which will not execute until the timer service/daemon task is
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219 * executing. A one-shot timer is used, so the callback function will only
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220 * execute once (unless it is manually reset/restarted).
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222 static void prvSetupHighFrequencyTimerTest( TimerHandle_t xTimer );
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225 * Tasks that test the context switch mechanism by filling the processor
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226 * registers with known values, then checking that the values contained
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227 * within the registers is as expected. The tasks are likely to get swapped
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228 * in and out between setting the register values and checking the register
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231 static void prvRegTestTask1( void *pvParameters );
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232 static void prvRegTestTask2( void *pvParameters );
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234 /*-----------------------------------------------------------*/
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236 /* The queue used to send messages to the LCD task. */
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237 static QueueHandle_t xLCDQueue;
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239 /* Variables incremented by prvRegTestTask1() and prvRegTestTask2() respectively on
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240 each iteration of their function. This is used to detect either task stopping
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241 their execution.. */
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242 volatile unsigned long ulRegTest1Cycles = 0, ulRegTest2Cycles = 0;
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244 /*-----------------------------------------------------------*/
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247 * Create the demo tasks then start the scheduler.
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249 int main_full( void )
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251 TimerHandle_t xTimer = NULL;
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253 /* Create all the other standard demo tasks. */
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254 vStartLEDFlashTimers( mainNUM_FLASH_TIMER_LEDS );
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255 vCreateBlockTimeTasks();
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256 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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257 vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
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258 vStartQueuePeekTasks();
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259 vStartInterruptQueueTasks();
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261 /* Create the tasks defined within this file. */
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262 xTaskCreate( prvRegTestTask1, "Reg1", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
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263 xTaskCreate( prvRegTestTask2, "Reg2", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
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265 /* Create the software timer that performs the 'check' functionality, as
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266 described at the top of this file. */
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267 xTimer = xTimerCreate( "CheckTimer",/* A text name, purely to help debugging. */
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268 ( mainCHECK_TIMER_PERIOD_MS ), /* The timer period, in this case 3000ms (3s). */
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269 pdTRUE, /* This is an auto-reload timer, so xAutoReload is set to pdTRUE. */
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270 ( void * ) 0, /* The ID is not used, so can be set to anything. */
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271 prvCheckTimerCallback /* The callback function that inspects the status of all the other tasks. */
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274 if( xTimer != NULL )
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276 xTimerStart( xTimer, mainDONT_BLOCK );
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279 /* A software timer is also used to start the high frequency timer test.
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280 This is to ensure the test does not start before the kernel. This time a
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281 one shot software timer is used. */
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282 xTimer = xTimerCreate( "HighHzTimerSetup", 1, pdFALSE, ( void * ) 0, prvSetupHighFrequencyTimerTest );
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283 if( xTimer != NULL )
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285 xTimerStart( xTimer, mainDONT_BLOCK );
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288 /* Finally start the scheduler. */
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289 vTaskStartScheduler();
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291 /* If all is well, the scheduler will now be running, and the following line
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292 will never be reached. If the following line does execute, then there was
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293 insufficient FreeRTOS heap memory available for the idle and/or timer tasks
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294 to be created. See the memory management section on the FreeRTOS web site
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295 for more details. */
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298 /*-----------------------------------------------------------*/
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300 static void prvRegTestTask1( void *pvParameters )
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302 extern void vRegTest1( volatile unsigned long * );
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304 /* Avoid compiler warnings. */
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305 ( void ) pvParameters;
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307 /* Pass the address of the RegTest1 loop counter into the test function,
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308 which is necessarily implemented in assembler. */
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309 vRegTest1( &ulRegTest1Cycles );
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311 /* vRegTest1 should never exit! */
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312 vTaskDelete( NULL );
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314 /*-----------------------------------------------------------*/
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316 static void prvRegTestTask2( void *pvParameters )
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318 extern void vRegTest2( volatile unsigned long * );
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320 /* Avoid compiler warnings. */
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321 ( void ) pvParameters;
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323 /* Pass the address of the RegTest2 loop counter into the test function,
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324 which is necessarily implemented in assembler. */
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325 vRegTest2( &ulRegTest2Cycles );
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327 /* vRegTest1 should never exit! */
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328 vTaskDelete( NULL );
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330 /*-----------------------------------------------------------*/
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332 static void prvCheckTimerCallback( TimerHandle_t xTimer )
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334 static long lChangedTimerPeriodAlready = pdFALSE;
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335 static unsigned long ulLastRegTest1Value = 0, ulLastRegTest2Value = 0;
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337 /* Buffer into which the high frequency timer count is written as a string. */
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338 static char cStringBuffer[ mainMAX_STRING_LENGTH ];
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340 /* The count of the high frequency timer interrupts. */
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341 extern unsigned long ulHighFrequencyTimerInterrupts;
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342 static xLCDMessage xMessage = { ( 200 / portTICK_PERIOD_MS ), cStringBuffer };
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344 /* Check that the register test 1 task is still running. */
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345 if( ulLastRegTest1Value == ulRegTest1Cycles )
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347 xMessage.pcMessage = "Error: Reg test2";
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349 ulLastRegTest1Value = ulRegTest1Cycles;
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352 /* Check that the register test 2 task is still running. */
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353 if( ulLastRegTest2Value == ulRegTest2Cycles )
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355 xMessage.pcMessage = "Error: Reg test3";
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357 ulLastRegTest2Value = ulRegTest2Cycles;
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360 /* Have any of the standard demo tasks detected an error in their
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362 if( xAreGenericQueueTasksStillRunning() != pdTRUE )
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364 xMessage.pcMessage = "Error: Gen Q";
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366 else if( xAreQueuePeekTasksStillRunning() != pdTRUE )
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368 xMessage.pcMessage = "Error: Q Peek";
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370 else if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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372 xMessage.pcMessage = "Error: Blck time";
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374 else if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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376 xMessage.pcMessage = "Error: Sem test";
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378 else if( xAreIntQueueTasksStillRunning() != pdTRUE )
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380 xMessage.pcMessage = "Error: Int queue";
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383 if( xMessage.pcMessage != cStringBuffer )
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385 /* An error string has been logged. If the timer period has not yet
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386 been changed it should be changed now. Increasing the frequency of the
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387 LED gives visual feedback of the error status. */
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388 if( lChangedTimerPeriodAlready == pdFALSE )
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390 lChangedTimerPeriodAlready = pdTRUE;
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392 /* This call to xTimerChangePeriod() uses a zero block time.
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393 Functions called from inside of a timer callback function must
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394 *never* attempt to block as to do so could impact other software
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396 xTimerChangePeriod( xTimer, ( mainERROR_CHECK_TIMER_PERIOD_MS ), mainDONT_BLOCK );
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401 /* Write the ulHighFrequencyTimerInterrupts value to the string
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402 buffer. It will only be displayed if no errors have been detected. */
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403 sprintf( cStringBuffer, "Pass %u", ( unsigned int ) ulHighFrequencyTimerInterrupts );
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406 vParTestToggleLED( mainCHECK_LED );
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408 /*-----------------------------------------------------------*/
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410 static void prvSetupHighFrequencyTimerTest( TimerHandle_t xTimer )
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412 /* Setup the high frequency, high priority, timer test. It is setup in this
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413 software timer callback to ensure it does not start before the kernel does.
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414 This is a one shot timer - so the setup routine will only be executed once. */
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415 vSetupTimerTest( mainTEST_INTERRUPT_FREQUENCY );
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