2 * FreeRTOS Kernel V10.2.0
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3 * Copyright (C) 2019 Amazon.com, Inc. or its affiliates. All Rights Reserved.
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5 * Permission is hereby granted, free of charge, to any person obtaining a copy of
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6 * this software and associated documentation files (the "Software"), to deal in
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7 * the Software without restriction, including without limitation the rights to
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8 * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
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9 * the Software, and to permit persons to whom the Software is furnished to do so,
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10 * subject to the following conditions:
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12 * The above copyright notice and this permission notice shall be included in all
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13 * copies or substantial portions of the Software.
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15 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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16 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
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17 * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
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18 * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
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19 * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
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20 * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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22 * http://www.FreeRTOS.org
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23 * http://aws.amazon.com/freertos
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25 * 1 tab == 4 spaces!
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28 /******************************************************************************
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29 * NOTE 1: This project provides two demo applications. A simple blinky style
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30 * project, and a more comprehensive test and demo application. The
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31 * mainCREATE_SIMPLE_BLINKY_DEMO_ONLY setting in main.c is used to select
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32 * between the two. See the notes on using mainCREATE_SIMPLE_BLINKY_DEMO_ONLY
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33 * in main.c. This file implements the comprehensive test and demo version.
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35 * NOTE 2: This file only contains the source code that is specific to the
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36 * full demo. Generic functions, such FreeRTOS hook functions, and functions
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37 * required to configure the hardware, are defined in main.c.
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38 ******************************************************************************
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40 * main_full() creates all the demo application tasks and software timers, then
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41 * starts the scheduler. The WEB documentation provides more details of the
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42 * standard demo application tasks. In addition to the standard demo tasks, the
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43 * following tasks and tests are also defined:
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45 * "Register test" tasks - These tasks are used in part to test the kernel port.
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46 * They set each processor register to a known value, then check that the
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47 * register still contains that value. Each of the tasks sets the registers
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48 * to different values, and will get swapping in and out between setting and
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49 * then subsequently checking the register values. Discovery of an incorrect
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50 * value would be indicative of an error in the task switching mechanism.
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52 * "ISR triggered task" - This is provided as an example of how to write a
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53 * FreeRTOS compatible interrupt service routine. See the comments in
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54 * ISRTriggeredTask.c.
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56 * "High Frequency Timer Test" - The high frequency timer is created to test
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57 * the interrupt nesting method. The standard demo interrupt nesting test tasks
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58 * are created with priorities at or below configMAX_SYSCALL_INTERRUPT_PRIORITY
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59 * because they use interrupt safe FreeRTOS API functions. The high frequency
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60 * time is created with a priority above configMAX_SYSCALL_INTERRUPT_PRIORITY,
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61 * so cannot us the same API functions.
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63 * By way of demonstration, the demo application defines
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64 * configMAX_SYSCALL_INTERRUPT_PRIORITY to be 3, configKERNEL_INTERRUPT_PRIORITY
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65 * to be 1, and all other interrupts as follows:
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67 * See the online documentation for this demo for more information on interrupt
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70 * "Check" timer - The check software timer period is initially set to three
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71 * seconds. The callback function associated with the check software timer
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72 * checks that all the standard demo tasks, and the register check tasks, are
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73 * not only still executing, but are executing without reporting any errors. If
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74 * the check software timer discovers that a task has either stalled, or
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75 * reported an error, then it changes its own execution period from the initial
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76 * three seconds, to just 200ms. The check software timer also toggle LED
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77 * mainCHECK_LED; If mainCHECK_LED toggles every 3 seconds, no errors have
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78 * been detected. If mainCHECK_LED toggles every 200ms then an error has been
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79 * detected in at least one task.
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83 /* Scheduler includes. */
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84 #include "FreeRTOS.h"
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90 /* Demo application includes. */
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91 #include "partest.h"
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92 #include "blocktim.h"
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93 #include "flash_timer.h"
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94 #include "semtest.h"
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95 #include "GenQTest.h"
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97 #include "IntQueue.h"
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98 #include "countsem.h"
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99 #include "dynamic.h"
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100 #include "QueueOverwrite.h"
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101 #include "QueueSet.h"
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102 #include "recmutex.h"
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103 #include "EventGroupsDemo.h"
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104 #include "flop_mz.h"
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106 /*-----------------------------------------------------------*/
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108 /* The period after which the check timer will expire, in ms, provided no errors
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109 have been reported by any of the standard demo tasks. ms are converted to the
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110 equivalent in ticks using the portTICK_PERIOD_MS constant. */
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111 #define mainCHECK_TIMER_PERIOD_MS ( 3000UL / portTICK_PERIOD_MS )
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113 /* The period at which the check timer will expire, in ms, if an error has been
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114 reported in one of the standard demo tasks. ms are converted to the equivalent
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115 in ticks using the portTICK_PERIOD_MS constant. */
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116 #define mainERROR_CHECK_TIMER_PERIOD_MS ( 200UL / portTICK_PERIOD_MS )
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118 /* The priorities of the various demo application tasks. */
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119 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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120 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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121 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
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122 #define mainINTEGER_TASK_PRIORITY ( tskIDLE_PRIORITY )
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123 #define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )
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124 #define mainQUEUE_OVERWRITE_TASK_PRIORITY ( tskIDLE_PRIORITY )
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125 #define mainFLOP_TASK_PRIORITY ( tskIDLE_PRIORITY )
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127 /* The LED controlled by the 'check' software timer. */
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128 #define mainCHECK_LED ( 2 )
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130 /* The number of LEDs that should be controlled by the flash software timer
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131 standard demo. In this case it is only 1 as the starter kit has three LEDs, one
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132 of which is controlled by the check timer and one of which is controlled by the
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133 ISR triggered task. */
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134 #define mainNUM_FLASH_TIMER_LEDS ( 1 )
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137 #define mainDONT_BLOCK ( 0 )
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139 /* The frequency at which the "high frequency interrupt" interrupt will
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141 #define mainTEST_INTERRUPT_FREQUENCY ( 20000 )
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143 /*-----------------------------------------------------------*/
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146 * The check timer callback function, as described at the top of this file.
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148 static void prvCheckTimerCallback( TimerHandle_t xTimer );
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151 * It is important to ensure the high frequency timer test does not start before
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152 * the kernel. It is therefore started from inside a software timer callback
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153 * function, which will not execute until the timer service/daemon task is
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154 * executing. A one-shot timer is used, so the callback function will only
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155 * execute once (unless it is manually reset/restarted).
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157 static void prvSetupHighFrequencyTimerTest( TimerHandle_t xTimer );
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160 * Tasks that test the context switch mechanism by filling the processor
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161 * registers with known values, then checking that the values contained
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162 * within the registers is as expected. The tasks are likely to get swapped
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163 * in and out between setting the register values and checking the register
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166 static void prvRegTestTask1( void *pvParameters );
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167 static void prvRegTestTask2( void *pvParameters );
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170 * The task that is periodically triggered by an interrupt, as described at the
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171 * top of this file.
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173 extern void vStartISRTriggeredTask( void );
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175 /*-----------------------------------------------------------*/
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177 /* Variables incremented by prvRegTestTask1() and prvRegTestTask2() respectively
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178 on each iteration of their function. These are used to detect errors in the
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180 volatile unsigned long ulRegTest1Cycles = 0, ulRegTest2Cycles = 0;
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182 /*-----------------------------------------------------------*/
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185 * Create the demo tasks then start the scheduler.
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187 int main_full( void )
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189 TimerHandle_t xTimer = NULL;
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191 /* Create all the other standard demo tasks. */
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192 vStartLEDFlashTimers( mainNUM_FLASH_TIMER_LEDS );
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193 vCreateBlockTimeTasks();
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194 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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195 vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
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196 vStartQueuePeekTasks();
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197 vStartInterruptQueueTasks();
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198 vStartISRTriggeredTask();
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199 vStartCountingSemaphoreTasks();
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200 vStartDynamicPriorityTasks();
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201 vStartQueueOverwriteTask( mainQUEUE_OVERWRITE_TASK_PRIORITY );
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202 vStartQueueSetTasks();
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203 vStartRecursiveMutexTasks();
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204 vStartEventGroupTasks();
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205 vStartMathTasks( mainFLOP_TASK_PRIORITY );
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207 /* Create the tasks defined within this file. */
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208 xTaskCreate( prvRegTestTask1, /* The function that implements the task. */
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209 "Reg1", /* Text name for the task to assist debugger - not used by FreeRTOS itself. */
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210 configMINIMAL_STACK_SIZE, /* The stack size to allocate for the task - specified in words not bytes. */
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211 NULL, /* The parameter to pass into the task - not used in this case so set to NULL. */
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212 tskIDLE_PRIORITY, /* The priority to assign to the task. */
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213 NULL ); /* Used to obtain a handle to the task being created - not used in this case so set to NULL. */
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215 xTaskCreate( prvRegTestTask2, "Reg2", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
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217 /* Create the software timer that performs the 'check' functionality, as
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218 described at the top of this file. */
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219 xTimer = xTimerCreate( "CheckTimer",/* A text name, purely to help debugging. */
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220 ( mainCHECK_TIMER_PERIOD_MS ), /* The timer period, in this case 3000ms (3s). */
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221 pdTRUE, /* This is an auto-reload timer, so xAutoReload is set to pdTRUE. */
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222 ( void * ) 0, /* The ID is not used, so can be set to anything. */
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223 prvCheckTimerCallback ); /* The callback function that inspects the status of all the other tasks. */
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225 if( xTimer != NULL )
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227 xTimerStart( xTimer, mainDONT_BLOCK );
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230 /* A software timer is also used to start the high frequency timer test.
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231 This is to ensure the test does not start before the kernel. This time a
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232 one shot software timer is used. */
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233 xTimer = xTimerCreate( "HighHzTimerSetup", 1, pdFALSE, ( void * ) 0, prvSetupHighFrequencyTimerTest );
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234 if( xTimer != NULL )
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236 xTimerStart( xTimer, mainDONT_BLOCK );
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239 /* Finally start the scheduler. */
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240 vTaskStartScheduler();
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242 /* If all is well, the scheduler will now be running, and the following line
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243 will never be reached. If the following line does execute, then there was
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244 insufficient FreeRTOS heap memory available for the idle and/or timer tasks
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245 to be created. See the memory management section on the FreeRTOS web site
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246 for more details. http://www.freertos.org/a00111.html */
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249 /*-----------------------------------------------------------*/
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251 static void prvRegTestTask1( void *pvParameters )
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253 extern void vRegTest1( volatile unsigned long * );
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255 /* Avoid compiler warnings. */
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256 ( void ) pvParameters;
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258 /* Must be called before any hardware floating point operations are
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259 performed to let the RTOS portable layer know that this task requires
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260 a floating point context. */
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261 portTASK_USES_FLOATING_POINT();
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263 /* Pass the address of the RegTest1 loop counter into the test function,
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264 which is necessarily implemented in assembler. */
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265 vRegTest1( &ulRegTest1Cycles );
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267 /* vRegTest1 should never exit! */
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268 vTaskDelete( NULL );
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270 /*-----------------------------------------------------------*/
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272 static void prvRegTestTask2( void *pvParameters )
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274 extern void vRegTest2( volatile unsigned long * );
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276 /* Avoid compiler warnings. */
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277 ( void ) pvParameters;
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279 /* Must be called before any hardware floating point operations are
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280 performed to let the RTOS portable layer know that this task requires
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281 a floating point context. */
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282 portTASK_USES_FLOATING_POINT();
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284 /* Pass the address of the RegTest2 loop counter into the test function,
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285 which is necessarily implemented in assembler. */
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286 vRegTest2( &ulRegTest2Cycles );
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288 /* vRegTest1 should never exit! */
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289 vTaskDelete( NULL );
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291 /*-----------------------------------------------------------*/
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293 static void prvCheckTimerCallback( TimerHandle_t xTimer )
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295 static long lChangedTimerPeriodAlready = pdFALSE;
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296 static unsigned long ulLastRegTest1Value = 0, ulLastRegTest2Value = 0, ulLastHighFrequencyTimerInterrupts = 0;
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297 static const unsigned long ulExpectedHighFrequencyInterrupts = ( ( mainTEST_INTERRUPT_FREQUENCY / 1000UL ) * mainCHECK_TIMER_PERIOD_MS ) - 10; /* 10 allows for a margin of error. */
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298 unsigned long ulErrorOccurred = pdFALSE;
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300 /* The count of the high frequency timer interrupts. */
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301 extern unsigned long ulHighFrequencyTimerInterrupts;
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303 /* Avoid compiler warnings. */
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306 /* Check that the register test 1 task is still running. */
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307 if( ulLastRegTest1Value == ulRegTest1Cycles )
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309 ulErrorOccurred |= ( 0x01UL << 1UL );
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311 ulLastRegTest1Value = ulRegTest1Cycles;
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314 /* Check that the register test 2 task is still running. */
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315 if( ulLastRegTest2Value == ulRegTest2Cycles )
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317 ulErrorOccurred |= ( 0x01UL << 2UL );
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319 ulLastRegTest2Value = ulRegTest2Cycles;
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321 /* Have any of the standard demo tasks detected an error in their
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323 if( xAreGenericQueueTasksStillRunning() != pdTRUE )
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325 ulErrorOccurred |= ( 0x01UL << 3UL );
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327 else if( xAreQueuePeekTasksStillRunning() != pdTRUE )
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329 ulErrorOccurred |= ( 0x01UL << 4UL );
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331 else if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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333 ulErrorOccurred |= ( 0x01UL << 5UL );
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335 else if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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337 ulErrorOccurred |= ( 0x01UL << 6UL );
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339 else if( xAreIntQueueTasksStillRunning() != pdTRUE )
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341 ulErrorOccurred |= ( 0x01UL << 7UL );
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343 else if( xAreCountingSemaphoreTasksStillRunning() != pdTRUE )
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345 ulErrorOccurred |= ( 0x01UL << 8UL );
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347 else if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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349 ulErrorOccurred |= ( 0x01UL << 9UL );
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351 else if( xIsQueueOverwriteTaskStillRunning() != pdTRUE )
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353 ulErrorOccurred |= ( 0x01UL << 10UL );
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355 else if( xAreQueueSetTasksStillRunning() != pdTRUE )
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357 ulErrorOccurred |= ( 0x01UL << 11UL );
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359 else if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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361 ulErrorOccurred |= ( 0x01UL << 12UL );
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363 else if( xAreEventGroupTasksStillRunning() != pdTRUE )
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365 ulErrorOccurred |= ( 0x01UL << 13UL );
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367 else if( xAreMathsTaskStillRunning() != pdTRUE )
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369 ulErrorOccurred |= ( 0x01UL << 15UL );
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372 /* Ensure the expected number of high frequency interrupts have occurred. */
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373 if( ulLastHighFrequencyTimerInterrupts != 0 )
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375 if( ( ulHighFrequencyTimerInterrupts - ulLastHighFrequencyTimerInterrupts ) < ulExpectedHighFrequencyInterrupts )
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377 ulErrorOccurred |= ( 0x01UL << 14UL );
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380 ulLastHighFrequencyTimerInterrupts = ulHighFrequencyTimerInterrupts;
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382 if( ulErrorOccurred != pdFALSE )
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384 /* An error occurred. Increase the frequency at which the check timer
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385 toggles its LED to give visual feedback of the potential error
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387 if( lChangedTimerPeriodAlready == pdFALSE )
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389 lChangedTimerPeriodAlready = pdTRUE;
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391 /* This call to xTimerChangePeriod() uses a zero block time.
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392 Functions called from inside of a timer callback function must
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393 *never* attempt to block as to do so could impact other software
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395 xTimerChangePeriod( xTimer, ( mainERROR_CHECK_TIMER_PERIOD_MS ), mainDONT_BLOCK );
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399 vParTestToggleLED( mainCHECK_LED );
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401 /*-----------------------------------------------------------*/
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403 static void prvSetupHighFrequencyTimerTest( TimerHandle_t xTimer )
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405 void vSetupTimerTest( unsigned short usFrequencyHz );
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407 /* Avoid compiler warnings. */
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410 /* Setup the high frequency, high priority, timer test. It is setup in this
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411 software timer callback to ensure it does not start before the kernel does.
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412 This is a one shot timer - so the setup routine will only be executed once. */
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413 vSetupTimerTest( mainTEST_INTERRUPT_FREQUENCY );
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415 /*-----------------------------------------------------------*/
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