2 * FreeRTOS Kernel V10.1.1
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3 * Copyright (C) 2018 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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39 ******************************************************************************
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41 * main_full() creates all the demo application tasks and software timers, then
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42 * starts the scheduler. The web documentation provides more details of the
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43 * standard demo application tasks, which provide no particular functionality,
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44 * but do provide a good example of how to use the FreeRTOS API.
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46 * In addition to the standard demo tasks, the following tasks and tests are
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47 * defined and/or created within this file:
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49 * "Reg test" tasks - These fill both the core registers with known values, then
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50 * check that each register maintains its expected value for the lifetime of the
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51 * task. Each task uses a different set of values. The reg test tasks execute
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52 * with a very low priority, so get preempted very frequently. A register
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53 * containing an unexpected value is indicative of an error in the context
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54 * switching mechanism.
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56 * "Check" task - The check executes every three seconds. It checks that all
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57 * the standard demo tasks, and the register check tasks, are not only still
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58 * executing, but are executing without reporting any errors. If the check task
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59 * discovers that a task has either stalled, or reported an error, then it
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60 * prints an error message to the UART, otherwise it prints "Pass.".
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63 /* Standard includes. */
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67 /* Kernel includes. */
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68 #include "FreeRTOS.h"
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73 /* Standard demo application includes. */
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74 #include "dynamic.h"
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75 #include "blocktim.h"
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76 #include "GenQTest.h"
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77 #include "recmutex.h"
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78 #include "TimerDemo.h"
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79 #include "EventGroupsDemo.h"
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80 #include "TaskNotify.h"
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82 /* Priorities for the demo application tasks. */
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83 #define mainCHECK_TASK_PRIORITY ( configMAX_PRIORITIES - 1 )
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85 /* The period of the check task, in ms, converted to ticks using the
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86 pdMS_TO_TICKS() macro. mainNO_ERROR_CHECK_TASK_PERIOD is used if no errors have
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87 been found, mainERROR_CHECK_TASK_PERIOD is used if an error has been found. */
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88 #define mainNO_ERROR_CHECK_TASK_PERIOD pdMS_TO_TICKS( 3000UL )
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89 #define mainERROR_CHECK_TASK_PERIOD pdMS_TO_TICKS( 500UL )
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91 /* Parameters that are passed into the register check tasks solely for the
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92 purpose of ensuring parameters are passed into tasks correctly. */
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93 #define mainREG_TEST_TASK_1_PARAMETER ( ( void * ) 0x12345678 )
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94 #define mainREG_TEST_TASK_2_PARAMETER ( ( void * ) 0x87654321 )
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96 /* The base period used by the timer test tasks. */
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97 #define mainTIMER_TEST_PERIOD ( 50 )
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99 /* The size of the stack allocated to the check task (as described in the
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100 comments at the top of this file. */
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101 #define mainCHECK_TASK_STACK_SIZE_WORDS 100
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103 /* Size of the stacks to allocated for the register check tasks. */
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104 #define mainREG_TEST_STACK_SIZE_WORDS 70
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106 /*-----------------------------------------------------------*/
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109 * Called by main() to run the full demo (as opposed to the blinky demo) when
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110 * mainCREATE_SIMPLE_BLINKY_DEMO_ONLY is set to 0.
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112 void main_full( void );
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115 * The check task, as described at the top of this file.
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117 static void prvCheckTask( void *pvParameters );
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120 * Register check tasks as described at the top of this file. The nature of
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121 * these files necessitates that they are written in an assembly file, but the
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122 * entry points are kept in the C file for the convenience of checking the task
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125 static void prvRegTestTaskEntry1( void *pvParameters );
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126 extern void vRegTest1Implementation( void );
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127 static void prvRegTestTaskEntry2( void *pvParameters );
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128 extern void vRegTest2Implementation( void );
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131 * Tick hook used by the full demo, which includes code that interacts with
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132 * some of the tests.
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134 void vFullDemoTickHook( void );
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136 /*-----------------------------------------------------------*/
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138 /* The following two variables are used to communicate the status of the
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139 register check tasks to the check task. If the variables keep incrementing,
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140 then the register check tasks have not discovered any errors. If a variable
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141 stops incrementing, then an error has been found. */
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142 volatile uint32_t ulRegTest1LoopCounter = 0UL, ulRegTest2LoopCounter = 0UL;
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144 /*-----------------------------------------------------------*/
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146 void main_full( void )
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148 /* Start all the other standard demo/test tasks. They have no particular
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149 functionality, but do demonstrate how to use the FreeRTOS API and test the
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151 vStartDynamicPriorityTasks();
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152 vCreateBlockTimeTasks();
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153 vStartGenericQueueTasks( tskIDLE_PRIORITY );
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154 vStartRecursiveMutexTasks();
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155 vStartTimerDemoTask( mainTIMER_TEST_PERIOD );
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156 vStartEventGroupTasks();
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157 vStartTaskNotifyTask();
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159 /* Create the register check tasks, as described at the top of this file.
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160 Use xTaskCreateStatic() to create a task using only statically allocated
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162 xTaskCreate( prvRegTestTaskEntry1, /* The function that implements the task. */
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163 "Reg1", /* The name of the task. */
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164 mainREG_TEST_STACK_SIZE_WORDS, /* Size of stack to allocate for the task - in words not bytes!. */
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165 mainREG_TEST_TASK_1_PARAMETER, /* Parameter passed into the task. */
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166 tskIDLE_PRIORITY, /* Priority of the task. */
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167 NULL ); /* Can be used to pass out a handle to the created task. */
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168 xTaskCreate( prvRegTestTaskEntry2, "Reg2", mainREG_TEST_STACK_SIZE_WORDS, mainREG_TEST_TASK_2_PARAMETER, tskIDLE_PRIORITY, NULL );
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170 /* Create the task that performs the 'check' functionality, as described at
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171 the top of this file. */
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172 xTaskCreate( prvCheckTask, "Check", mainCHECK_TASK_STACK_SIZE_WORDS, NULL, mainCHECK_TASK_PRIORITY, NULL );
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174 /* Start the scheduler. */
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175 vTaskStartScheduler();
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177 /* If all is well, the scheduler will now be running, and the following
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178 line will never be reached. If the following line does execute, then
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179 there was insufficient FreeRTOS heap memory available for the Idle and/or
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180 timer tasks to be created. See the memory management section on the
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181 FreeRTOS web site for more details on the FreeRTOS heap
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182 http://www.freertos.org/a00111.html. */
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185 /*-----------------------------------------------------------*/
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187 static void prvCheckTask( void *pvParameters )
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189 TickType_t xDelayPeriod = mainNO_ERROR_CHECK_TASK_PERIOD;
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190 TickType_t xLastExecutionTime;
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191 static unsigned long ulLastRegTest1Value = 0, ulLastRegTest2Value = 0;
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192 char * const pcPassMessage = "Pass.\r\n";
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193 char * pcStatusMessage = pcPassMessage;
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194 extern void vSendString( const char * const pcString );
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195 extern void vToggleLED( void );
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197 /* Just to stop compiler warnings. */
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198 ( void ) pvParameters;
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200 /* Initialise xLastExecutionTime so the first call to vTaskDelayUntil()
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201 works correctly. */
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202 xLastExecutionTime = xTaskGetTickCount();
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204 /* Cycle for ever, delaying then checking all the other tasks are still
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205 operating without error. The onboard LED is toggled on each iteration.
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206 If an error is detected then the delay period is decreased from
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207 mainNO_ERROR_CHECK_TASK_PERIOD to mainERROR_CHECK_TASK_PERIOD. This has the
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208 effect of increasing the rate at which the onboard LED toggles, and in so
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209 doing gives visual feedback of the system status. */
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212 // if( ++count == 5 ) {taskENTER_CRITICAL();for(;;);}
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213 /* Delay until it is time to execute again. */
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214 vTaskDelayUntil( &xLastExecutionTime, xDelayPeriod );
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216 // taskENTER_CRITICAL();
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217 // for( int i = 0; i < 100; i++ )
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219 // for( int j = 0; j < 1000; j++ ) taskYIELD();
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220 // taskEXIT_CRITICAL();
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221 // vTaskDelay( 1 );
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222 // taskENTER_CRITICAL();
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224 // taskEXIT_CRITICAL();
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226 /* Check all the demo tasks (other than the flash tasks) to ensure
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227 that they are all still running, and that none have detected an error. */
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228 if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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230 pcStatusMessage = "ERROR: Dynamic priority demo/tests.\r\n";
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233 if ( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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235 pcStatusMessage = "ERROR: Block time demo/tests.\r\n";
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238 if ( xAreGenericQueueTasksStillRunning() != pdTRUE )
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240 pcStatusMessage = "ERROR: Generic queue demo/tests.\r\n";
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243 if ( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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245 pcStatusMessage = "ERROR: Recursive mutex demo/tests.\r\n";
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248 if( xAreTimerDemoTasksStillRunning( ( TickType_t ) xDelayPeriod ) != pdPASS )
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250 pcStatusMessage = "ERROR: Timer demo/tests.\r\n";
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253 if( xAreEventGroupTasksStillRunning() != pdPASS )
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255 pcStatusMessage = "ERROR: Event group demo/tests.\r\n";
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258 if( xAreTaskNotificationTasksStillRunning() != pdPASS )
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260 pcStatusMessage = "ERROR: Task notification demo/tests.\r\n";
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263 /* Check that the register test 1 task is still running. */
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264 if( ulLastRegTest1Value == ulRegTest1LoopCounter )
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266 pcStatusMessage = "ERROR: Register test 1.\r\n";
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268 ulLastRegTest1Value = ulRegTest1LoopCounter;
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270 /* Check that the register test 2 task is still running. */
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271 if( ulLastRegTest2Value == ulRegTest2LoopCounter )
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273 pcStatusMessage = "ERROR: Register test 2.\r\n";
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275 ulLastRegTest2Value = ulRegTest2LoopCounter;
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277 /* Write the status message to the UART. */
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278 // vSendString( pcStatusMessage );
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281 /* If an error has been found then increase the LED toggle rate by
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282 increasing the cycle frequency. */
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283 if( pcStatusMessage != pcPassMessage )
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285 xDelayPeriod = mainERROR_CHECK_TASK_PERIOD;
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289 /*-----------------------------------------------------------*/
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291 static void prvRegTestTaskEntry1( void *pvParameters )
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293 /* Although the regtest task is written in assembler, its entry point is
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294 written in C for convenience of checking the task parameter is being passed
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296 if( pvParameters == mainREG_TEST_TASK_1_PARAMETER )
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298 /* Start the part of the test that is written in assembler. */
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299 vRegTest1Implementation();
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302 /* The following line will only execute if the task parameter is found to
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303 be incorrect. The check task will detect that the regtest loop counter is
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304 not being incremented and flag an error. */
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305 vTaskDelete( NULL );
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307 /*-----------------------------------------------------------*/
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309 static void prvRegTestTaskEntry2( void *pvParameters )
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311 /* Although the regtest task is written in assembler, its entry point is
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312 written in C for convenience of checking the task parameter is being passed
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314 if( pvParameters == mainREG_TEST_TASK_2_PARAMETER )
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316 /* Start the part of the test that is written in assembler. */
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317 vRegTest2Implementation();
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320 /* The following line will only execute if the task parameter is found to
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321 be incorrect. The check task will detect that the regtest loop counter is
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322 not being incremented and flag an error. */
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323 vTaskDelete( NULL );
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325 /*-----------------------------------------------------------*/
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327 void vFullDemoTickHook( void )
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329 /* Called from vApplicationTickHook() when the project is configured to
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330 build the full demo. */
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331 vTimerPeriodicISRTests();
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332 vPeriodicEventGroupsProcessing();
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333 xNotifyTaskFromISR();
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