2 FreeRTOS V9.0.0rc2 - 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 also defined:
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87 * "Register test" tasks - These tasks are used in part to test the kernel port.
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88 * They set each processor register to a known value, then check that the
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89 * register still contains that value. Each of the tasks sets the registers
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90 * to different values, and will get swapping in and out between setting and
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91 * then subsequently checking the register values. Discovery of an incorrect
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92 * value would be indicative of an error in the task switching mechanism.
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94 * "ISR triggered task" - This is provided as an example of how to write a
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95 * FreeRTOS compatible interrupt service routine. See the comments in
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96 * ISRTriggeredTask.c.
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98 * "High Frequency Timer Test" - The high frequency timer is created to test
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99 * the interrupt nesting method. The standard demo interrupt nesting test tasks
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100 * are created with priorities at or below configMAX_SYSCALL_INTERRUPT_PRIORITY
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101 * because they use interrupt safe FreeRTOS API functions. The high frequency
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102 * time is created with a priority above configMAX_SYSCALL_INTERRUPT_PRIORITY,
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103 * so cannot us the same API functions.
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105 * By way of demonstration, the demo application defines
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106 * configMAX_SYSCALL_INTERRUPT_PRIORITY to be 3, configKERNEL_INTERRUPT_PRIORITY
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107 * to be 1, and all other interrupts as follows:
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109 * See the online documentation for this demo for more information on interrupt
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112 * "Check" timer - The check software timer period is initially set to three
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113 * seconds. The callback function associated with the check software timer
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114 * checks that all the standard demo tasks, and the register check tasks, are
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115 * not only still executing, but are executing without reporting any errors. If
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116 * the check software timer discovers that a task has either stalled, or
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117 * reported an error, then it changes its own execution period from the initial
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118 * three seconds, to just 200ms. The check software timer also toggle LED
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119 * mainCHECK_LED; If mainCHECK_LED toggles every 3 seconds, no errors have
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120 * been detected. If mainCHECK_LED toggles every 200ms then an error has been
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121 * detected in at least one task.
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125 /* Scheduler includes. */
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126 #include "FreeRTOS.h"
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129 #include "semphr.h"
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130 #include "timers.h"
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132 /* Demo application includes. */
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133 #include "partest.h"
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134 #include "blocktim.h"
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135 #include "flash_timer.h"
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136 #include "semtest.h"
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137 #include "GenQTest.h"
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139 #include "IntQueue.h"
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140 #include "countsem.h"
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141 #include "dynamic.h"
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142 #include "QueueOverwrite.h"
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143 #include "QueueSet.h"
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144 #include "recmutex.h"
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145 #include "EventGroupsDemo.h"
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146 #include "flop_mz.h"
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148 /*-----------------------------------------------------------*/
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150 /* The period after which the check timer will expire, in ms, provided no errors
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151 have been reported by any of the standard demo tasks. ms are converted to the
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152 equivalent in ticks using the portTICK_PERIOD_MS constant. */
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153 #define mainCHECK_TIMER_PERIOD_MS ( 3000UL / portTICK_PERIOD_MS )
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155 /* The period at which the check timer will expire, in ms, if an error has been
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156 reported in one of the standard demo tasks. ms are converted to the equivalent
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157 in ticks using the portTICK_PERIOD_MS constant. */
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158 #define mainERROR_CHECK_TIMER_PERIOD_MS ( 200UL / portTICK_PERIOD_MS )
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160 /* The priorities of the various demo application tasks. */
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161 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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162 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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163 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
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164 #define mainINTEGER_TASK_PRIORITY ( tskIDLE_PRIORITY )
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165 #define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )
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166 #define mainQUEUE_OVERWRITE_TASK_PRIORITY ( tskIDLE_PRIORITY )
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167 #define mainFLOP_TASK_PRIORITY ( tskIDLE_PRIORITY )
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169 /* The LED controlled by the 'check' software timer. */
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170 #define mainCHECK_LED ( 2 )
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172 /* The number of LEDs that should be controlled by the flash software timer
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173 standard demo. In this case it is only 1 as the starter kit has three LEDs, one
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174 of which is controlled by the check timer and one of which is controlled by the
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175 ISR triggered task. */
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176 #define mainNUM_FLASH_TIMER_LEDS ( 1 )
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179 #define mainDONT_BLOCK ( 0 )
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181 /* The frequency at which the "high frequency interrupt" interrupt will
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183 #define mainTEST_INTERRUPT_FREQUENCY ( 20000 )
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185 /*-----------------------------------------------------------*/
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188 * The check timer callback function, as described at the top of this file.
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190 static void prvCheckTimerCallback( TimerHandle_t xTimer );
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193 * It is important to ensure the high frequency timer test does not start before
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194 * the kernel. It is therefore started from inside a software timer callback
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195 * function, which will not execute until the timer service/daemon task is
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196 * executing. A one-shot timer is used, so the callback function will only
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197 * execute once (unless it is manually reset/restarted).
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199 static void prvSetupHighFrequencyTimerTest( TimerHandle_t xTimer );
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202 * Tasks that test the context switch mechanism by filling the processor
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203 * registers with known values, then checking that the values contained
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204 * within the registers is as expected. The tasks are likely to get swapped
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205 * in and out between setting the register values and checking the register
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208 static void prvRegTestTask1( void *pvParameters );
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209 static void prvRegTestTask2( void *pvParameters );
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212 * The task that is periodically triggered by an interrupt, as described at the
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213 * top of this file.
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215 extern void vStartISRTriggeredTask( void );
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217 /*-----------------------------------------------------------*/
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219 /* Variables incremented by prvRegTestTask1() and prvRegTestTask2() respectively
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220 on each iteration of their function. These are used to detect errors in the
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222 volatile unsigned long ulRegTest1Cycles = 0, ulRegTest2Cycles = 0;
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224 /*-----------------------------------------------------------*/
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227 * Create the demo tasks then start the scheduler.
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229 int main_full( void )
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231 TimerHandle_t xTimer = NULL;
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233 /* Create all the other standard demo tasks. */
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234 vStartLEDFlashTimers( mainNUM_FLASH_TIMER_LEDS );
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235 vCreateBlockTimeTasks();
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236 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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237 vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
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238 vStartQueuePeekTasks();
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239 vStartInterruptQueueTasks();
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240 vStartISRTriggeredTask();
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241 vStartCountingSemaphoreTasks();
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242 vStartDynamicPriorityTasks();
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243 vStartQueueOverwriteTask( mainQUEUE_OVERWRITE_TASK_PRIORITY );
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244 vStartQueueSetTasks();
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245 vStartRecursiveMutexTasks();
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246 vStartEventGroupTasks();
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247 vStartMathTasks( mainFLOP_TASK_PRIORITY );
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249 /* Create the tasks defined within this file. */
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250 xTaskCreate( prvRegTestTask1, /* The function that implements the task. */
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251 "Reg1", /* Text name for the task to assist debugger - not used by FreeRTOS itself. */
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252 configMINIMAL_STACK_SIZE, /* The stack size to allocate for the task - specified in words not bytes. */
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253 NULL, /* The parameter to pass into the task - not used in this case so set to NULL. */
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254 tskIDLE_PRIORITY, /* The priority to assign to the task. */
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255 NULL ); /* Used to obtain a handle to the task being created - not used in this case so set to NULL. */
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257 xTaskCreate( prvRegTestTask2, "Reg2", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
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259 /* Create the software timer that performs the 'check' functionality, as
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260 described at the top of this file. */
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261 xTimer = xTimerCreate( "CheckTimer",/* A text name, purely to help debugging. */
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262 ( mainCHECK_TIMER_PERIOD_MS ), /* The timer period, in this case 3000ms (3s). */
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263 pdTRUE, /* This is an auto-reload timer, so xAutoReload is set to pdTRUE. */
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264 ( void * ) 0, /* The ID is not used, so can be set to anything. */
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265 prvCheckTimerCallback ); /* The callback function that inspects the status of all the other tasks. */
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267 if( xTimer != NULL )
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269 xTimerStart( xTimer, mainDONT_BLOCK );
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272 /* A software timer is also used to start the high frequency timer test.
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273 This is to ensure the test does not start before the kernel. This time a
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274 one shot software timer is used. */
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275 xTimer = xTimerCreate( "HighHzTimerSetup", 1, pdFALSE, ( void * ) 0, prvSetupHighFrequencyTimerTest );
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276 if( xTimer != NULL )
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278 xTimerStart( xTimer, mainDONT_BLOCK );
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281 /* Finally start the scheduler. */
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282 vTaskStartScheduler();
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284 /* If all is well, the scheduler will now be running, and the following line
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285 will never be reached. If the following line does execute, then there was
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286 insufficient FreeRTOS heap memory available for the idle and/or timer tasks
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287 to be created. See the memory management section on the FreeRTOS web site
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288 for more details. http://www.freertos.org/a00111.html */
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291 /*-----------------------------------------------------------*/
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293 static void prvRegTestTask1( void *pvParameters )
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295 extern void vRegTest1( volatile unsigned long * );
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297 /* Avoid compiler warnings. */
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298 ( void ) pvParameters;
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300 /* Must be called before any hardware floating point operations are
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301 performed to let the RTOS portable layer know that this task requires
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302 a floating point context. */
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303 portTASK_USES_FLOATING_POINT();
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305 /* Pass the address of the RegTest1 loop counter into the test function,
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306 which is necessarily implemented in assembler. */
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307 vRegTest1( &ulRegTest1Cycles );
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309 /* vRegTest1 should never exit! */
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310 vTaskDelete( NULL );
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312 /*-----------------------------------------------------------*/
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314 static void prvRegTestTask2( void *pvParameters )
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316 extern void vRegTest2( volatile unsigned long * );
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318 /* Avoid compiler warnings. */
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319 ( void ) pvParameters;
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321 /* Must be called before any hardware floating point operations are
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322 performed to let the RTOS portable layer know that this task requires
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323 a floating point context. */
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324 portTASK_USES_FLOATING_POINT();
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326 /* Pass the address of the RegTest2 loop counter into the test function,
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327 which is necessarily implemented in assembler. */
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328 vRegTest2( &ulRegTest2Cycles );
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330 /* vRegTest1 should never exit! */
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331 vTaskDelete( NULL );
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333 /*-----------------------------------------------------------*/
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335 static void prvCheckTimerCallback( TimerHandle_t xTimer )
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337 static long lChangedTimerPeriodAlready = pdFALSE;
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338 static unsigned long ulLastRegTest1Value = 0, ulLastRegTest2Value = 0, ulLastHighFrequencyTimerInterrupts = 0;
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339 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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340 unsigned long ulErrorOccurred = pdFALSE;
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342 /* The count of the high frequency timer interrupts. */
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343 extern unsigned long ulHighFrequencyTimerInterrupts;
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345 /* Avoid compiler warnings. */
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348 /* Check that the register test 1 task is still running. */
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349 if( ulLastRegTest1Value == ulRegTest1Cycles )
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351 ulErrorOccurred |= ( 0x01UL << 1UL );
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353 ulLastRegTest1Value = ulRegTest1Cycles;
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356 /* Check that the register test 2 task is still running. */
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357 if( ulLastRegTest2Value == ulRegTest2Cycles )
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359 ulErrorOccurred |= ( 0x01UL << 2UL );
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361 ulLastRegTest2Value = ulRegTest2Cycles;
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363 /* Have any of the standard demo tasks detected an error in their
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365 if( xAreGenericQueueTasksStillRunning() != pdTRUE )
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367 ulErrorOccurred |= ( 0x01UL << 3UL );
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369 else if( xAreQueuePeekTasksStillRunning() != pdTRUE )
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371 ulErrorOccurred |= ( 0x01UL << 4UL );
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373 else if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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375 ulErrorOccurred |= ( 0x01UL << 5UL );
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377 else if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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379 ulErrorOccurred |= ( 0x01UL << 6UL );
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381 else if( xAreIntQueueTasksStillRunning() != pdTRUE )
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383 ulErrorOccurred |= ( 0x01UL << 7UL );
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385 else if( xAreCountingSemaphoreTasksStillRunning() != pdTRUE )
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387 ulErrorOccurred |= ( 0x01UL << 8UL );
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389 else if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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391 ulErrorOccurred |= ( 0x01UL << 9UL );
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393 else if( xIsQueueOverwriteTaskStillRunning() != pdTRUE )
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395 ulErrorOccurred |= ( 0x01UL << 10UL );
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397 else if( xAreQueueSetTasksStillRunning() != pdTRUE )
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399 ulErrorOccurred |= ( 0x01UL << 11UL );
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401 else if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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403 ulErrorOccurred |= ( 0x01UL << 12UL );
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405 else if( xAreEventGroupTasksStillRunning() != pdTRUE )
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407 ulErrorOccurred |= ( 0x01UL << 13UL );
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409 else if( xAreMathsTaskStillRunning() != pdTRUE )
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411 ulErrorOccurred |= ( 0x01UL << 15UL );
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414 /* Ensure the expected number of high frequency interrupts have occurred. */
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415 if( ulLastHighFrequencyTimerInterrupts != 0 )
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417 if( ( ulHighFrequencyTimerInterrupts - ulLastHighFrequencyTimerInterrupts ) < ulExpectedHighFrequencyInterrupts )
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419 ulErrorOccurred |= ( 0x01UL << 14UL );
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422 ulLastHighFrequencyTimerInterrupts = ulHighFrequencyTimerInterrupts;
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424 if( ulErrorOccurred != pdFALSE )
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426 /* An error occurred. Increase the frequency at which the check timer
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427 toggles its LED to give visual feedback of the potential error
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429 if( lChangedTimerPeriodAlready == pdFALSE )
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431 lChangedTimerPeriodAlready = pdTRUE;
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433 /* This call to xTimerChangePeriod() uses a zero block time.
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434 Functions called from inside of a timer callback function must
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435 *never* attempt to block as to do so could impact other software
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437 xTimerChangePeriod( xTimer, ( mainERROR_CHECK_TIMER_PERIOD_MS ), mainDONT_BLOCK );
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441 vParTestToggleLED( mainCHECK_LED );
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443 /*-----------------------------------------------------------*/
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445 static void prvSetupHighFrequencyTimerTest( TimerHandle_t xTimer )
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447 void vSetupTimerTest( unsigned short usFrequencyHz );
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449 /* Avoid compiler warnings. */
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452 /* Setup the high frequency, high priority, timer test. It is setup in this
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453 software timer callback to ensure it does not start before the kernel does.
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454 This is a one shot timer - so the setup routine will only be executed once. */
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455 vSetupTimerTest( mainTEST_INTERRUPT_FREQUENCY );
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457 /*-----------------------------------------------------------*/
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