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 /* Microsemi incldues. */
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74 #include "core_timer.h"
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75 #include "riscv_hal.h"
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77 /* Standard demo application includes. */
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78 #include "dynamic.h"
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79 #include "blocktim.h"
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80 #include "GenQTest.h"
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81 #include "recmutex.h"
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82 #include "TimerDemo.h"
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83 #include "EventGroupsDemo.h"
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84 #include "TaskNotify.h"
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85 #include "AbortDelay.h"
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86 #include "countsem.h"
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88 #include "MessageBufferDemo.h"
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89 #include "StreamBufferDemo.h"
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90 #include "StreamBufferInterrupt.h"
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92 /* Priorities for the demo application tasks. */
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93 #define mainCHECK_TASK_PRIORITY ( configMAX_PRIORITIES - 1 )
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94 #define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3UL )
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96 /* The period of the check task, in ms, converted to ticks using the
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97 pdMS_TO_TICKS() macro. mainNO_ERROR_CHECK_TASK_PERIOD is used if no errors have
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98 been found, mainERROR_CHECK_TASK_PERIOD is used if an error has been found. */
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99 #define mainNO_ERROR_CHECK_TASK_PERIOD pdMS_TO_TICKS( 3000UL )
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100 #define mainERROR_CHECK_TASK_PERIOD pdMS_TO_TICKS( 500UL )
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102 /* Parameters that are passed into the register check tasks solely for the
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103 purpose of ensuring parameters are passed into tasks correctly. */
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104 #define mainREG_TEST_TASK_1_PARAMETER ( ( void * ) 0x12345678 )
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105 #define mainREG_TEST_TASK_2_PARAMETER ( ( void * ) 0x87654321 )
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107 /* The base period used by the timer test tasks. */
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108 #define mainTIMER_TEST_PERIOD ( 50 )
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110 /* The size of the stack allocated to the check task (as described in the
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111 comments at the top of this file. */
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112 #define mainCHECK_TASK_STACK_SIZE_WORDS 100
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114 /* Size of the stacks to allocated for the register check tasks. */
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115 #define mainREG_TEST_STACK_SIZE_WORDS 70
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117 /*-----------------------------------------------------------*/
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120 * Called by main() to run the full demo (as opposed to the blinky demo) when
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121 * mainCREATE_SIMPLE_BLINKY_DEMO_ONLY is set to 0.
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123 void main_full( void );
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126 * The check task, as described at the top of this file.
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128 static void prvCheckTask( void *pvParameters );
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131 * Initialise and start the peripheral timers that are used to exercise external
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132 * interrupt processing.
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134 static void prvSetupPeripheralTimers( void );
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137 * Register check tasks as described at the top of this file. The nature of
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138 * these files necessitates that they are written in an assembly file, but the
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139 * entry points are kept in the C file for the convenience of checking the task
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142 static void prvRegTestTaskEntry1( void *pvParameters );
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143 extern void vRegTest1Implementation( void );
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144 static void prvRegTestTaskEntry2( void *pvParameters );
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145 extern void vRegTest2Implementation( void );
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148 * Tick hook used by the full demo, which includes code that interacts with
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149 * some of the tests.
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151 void vFullDemoTickHook( void );
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153 /*-----------------------------------------------------------*/
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155 /* Timers used to exercise external interrupt processing. */
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156 static timer_instance_t g_timer0, g_timer1;
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158 /* Variables incremented by the peripheral timers used to exercise external
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160 volatile uint32_t ulTimer0Interrupts = 0, ulTimer1Interrupts = 0;
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162 /* The following two variables are used to communicate the status of the
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163 register check tasks to the check task. If the variables keep incrementing,
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164 then the register check tasks have not discovered any errors. If a variable
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165 stops incrementing, then an error has been found. */
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166 volatile uint32_t ulRegTest1LoopCounter = 0UL, ulRegTest2LoopCounter = 0UL;
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168 /*-----------------------------------------------------------*/
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170 void main_full( void )
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172 /* Start all the other standard demo/test tasks. They have no particular
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173 functionality, but do demonstrate how to use the FreeRTOS API and test the
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175 vStartDynamicPriorityTasks();
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176 vCreateBlockTimeTasks();
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177 vStartGenericQueueTasks( tskIDLE_PRIORITY );
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178 vStartRecursiveMutexTasks();
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179 vStartTimerDemoTask( mainTIMER_TEST_PERIOD );
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180 vStartEventGroupTasks();
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181 vStartTaskNotifyTask();
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182 vCreateAbortDelayTasks();
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183 vStartCountingSemaphoreTasks();
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184 vStartMessageBufferTasks( configMINIMAL_STACK_SIZE );
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185 vStartStreamBufferTasks();
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186 vStartStreamBufferInterruptDemo();
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188 /* Create the register check tasks, as described at the top of this file.
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189 Use xTaskCreateStatic() to create a task using only statically allocated
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191 xTaskCreate( prvRegTestTaskEntry1, /* The function that implements the task. */
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192 "Reg1", /* The name of the task. */
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193 mainREG_TEST_STACK_SIZE_WORDS, /* Size of stack to allocate for the task - in words not bytes!. */
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194 mainREG_TEST_TASK_1_PARAMETER, /* Parameter passed into the task. */
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195 tskIDLE_PRIORITY, /* Priority of the task. */
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196 NULL ); /* Can be used to pass out a handle to the created task. */
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197 xTaskCreate( prvRegTestTaskEntry2, "Reg2", mainREG_TEST_STACK_SIZE_WORDS, mainREG_TEST_TASK_2_PARAMETER, tskIDLE_PRIORITY, NULL );
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199 /* Create the task that performs the 'check' functionality, as described at
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200 the top of this file. */
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201 xTaskCreate( prvCheckTask, "Check", mainCHECK_TASK_STACK_SIZE_WORDS, NULL, mainCHECK_TASK_PRIORITY, NULL );
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203 /* The set of tasks created by the following function call have to be
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204 created last as they keep account of the number of tasks they expect to see
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206 vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
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208 /* Start the timers that are used to exercise external interrupt handling. */
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209 prvSetupPeripheralTimers();
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211 /* Start the scheduler. */
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212 vTaskStartScheduler();
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214 /* If all is well, the scheduler will now be running, and the following
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215 line will never be reached. If the following line does execute, then
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216 there was insufficient FreeRTOS heap memory available for the Idle and/or
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217 timer tasks to be created. See the memory management section on the
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218 FreeRTOS web site for more details on the FreeRTOS heap
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219 http://www.freertos.org/a00111.html. */
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222 /*-----------------------------------------------------------*/
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224 static void prvCheckTask( void *pvParameters )
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226 TickType_t xDelayPeriod = mainNO_ERROR_CHECK_TASK_PERIOD;
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227 TickType_t xLastExecutionTime;
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228 uint32_t ulLastRegTest1Value = 0, ulLastRegTest2Value = 0;
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229 uint32_t ulLastTimer0Interrupts = 0, ulLastTimer1Interrupts = 0;
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230 char * const pcPassMessage = ".";
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231 char * pcStatusMessage = pcPassMessage;
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232 extern void vSendString( const char * const pcString );
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233 extern void vToggleLED( void );
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235 /* Just to stop compiler warnings. */
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236 ( void ) pvParameters;
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238 /* Start with a pass message, after which a '.' character will be printed
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239 out on each successful loop. */
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240 vSendString( "Pass" );
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242 /* Initialise xLastExecutionTime so the first call to vTaskDelayUntil()
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243 works correctly. */
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244 xLastExecutionTime = xTaskGetTickCount();
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246 /* Cycle for ever, delaying then checking all the other tasks are still
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247 operating without error. The onboard LED is toggled on each iteration.
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248 If an error is detected then the delay period is decreased from
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249 mainNO_ERROR_CHECK_TASK_PERIOD to mainERROR_CHECK_TASK_PERIOD. This has the
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250 effect of increasing the rate at which the onboard LED toggles, and in so
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251 doing gives visual feedback of the system status. */
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254 /* Delay until it is time to execute again. */
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255 vTaskDelayUntil( &xLastExecutionTime, xDelayPeriod );
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257 /* Check all the demo tasks (other than the flash tasks) to ensure
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258 that they are all still running, and that none have detected an error. */
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259 if( xAreDynamicPriorityTasksStillRunning() == pdFALSE )
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261 pcStatusMessage = "ERROR: Dynamic priority demo/tests.\r\n";
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264 if( xAreBlockTimeTestTasksStillRunning() == pdFALSE )
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266 pcStatusMessage = "ERROR: Block time demo/tests.\r\n";
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269 if( xAreGenericQueueTasksStillRunning() == pdFALSE )
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271 pcStatusMessage = "ERROR: Generic queue demo/tests.\r\n";
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274 if( xAreRecursiveMutexTasksStillRunning() == pdFALSE )
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276 pcStatusMessage = "ERROR: Recursive mutex demo/tests.\r\n";
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279 if( xAreTimerDemoTasksStillRunning( ( TickType_t ) xDelayPeriod ) == pdFALSE )
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281 pcStatusMessage = "ERROR: Timer demo/tests.\r\n";
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284 if( xAreEventGroupTasksStillRunning() == pdFALSE )
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286 pcStatusMessage = "ERROR: Event group demo/tests.\r\n";
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289 if( xAreTaskNotificationTasksStillRunning() == pdFALSE )
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291 pcStatusMessage = "ERROR: Task notification demo/tests.\r\n";
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294 if( xAreAbortDelayTestTasksStillRunning() == pdFALSE )
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296 pcStatusMessage = "ERROR: Abort delay.\r\n";
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299 if( xAreCountingSemaphoreTasksStillRunning() == pdFALSE )
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301 pcStatusMessage = "ERROR: Counting semaphores.\r\n";
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304 if( xIsCreateTaskStillRunning() == pdFALSE )
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306 pcStatusMessage = "ERROR: Suicide tasks.\r\n";
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309 if( xAreMessageBufferTasksStillRunning() == pdFALSE )
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311 pcStatusMessage = "ERROR: Message buffer.\r\n";
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314 if( xAreStreamBufferTasksStillRunning() == pdFALSE )
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316 pcStatusMessage = "ERROR: Stream buffer.\r\n";
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319 if( xIsInterruptStreamBufferDemoStillRunning() == pdFALSE )
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321 pcStatusMessage = "ERROR: Stream buffer interrupt.\r\n";
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324 /* Check that the register test 1 task is still running. */
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325 if( ulLastRegTest1Value == ulRegTest1LoopCounter )
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327 pcStatusMessage = "ERROR: Register test 1.\r\n";
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329 ulLastRegTest1Value = ulRegTest1LoopCounter;
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331 /* Check that the register test 2 task is still running. */
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332 if( ulLastRegTest2Value == ulRegTest2LoopCounter )
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334 pcStatusMessage = "ERROR: Register test 2.\r\n";
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336 ulLastRegTest2Value = ulRegTest2LoopCounter;
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338 /* Check interrupts from the peripheral timers are being handled. */
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339 if( ulLastTimer0Interrupts == ulTimer0Interrupts )
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341 pcStatusMessage = "ERROR: Peripheral timer 0.\r\n";
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343 ulLastTimer0Interrupts = ulTimer0Interrupts;
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345 if( ulLastTimer1Interrupts == ulTimer1Interrupts )
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347 pcStatusMessage = "ERROR: Peripheral timer 1.\r\n";
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349 ulLastTimer1Interrupts = ulTimer1Interrupts;
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351 /* Write the status message to the UART. */
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352 vSendString( pcStatusMessage );
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354 /* If an error has been found then increase the LED toggle rate by
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355 increasing the cycle frequency. */
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356 if( pcStatusMessage != pcPassMessage )
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358 xDelayPeriod = mainERROR_CHECK_TASK_PERIOD;
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362 /*-----------------------------------------------------------*/
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364 static void prvRegTestTaskEntry1( void *pvParameters )
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366 /* Although the regtest task is written in assembler, its entry point is
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367 written in C for convenience of checking the task parameter is being passed
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369 if( pvParameters == mainREG_TEST_TASK_1_PARAMETER )
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371 /* Start the part of the test that is written in assembler. */
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372 vRegTest1Implementation();
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375 /* The following line will only execute if the task parameter is found to
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376 be incorrect. The check task will detect that the regtest loop counter is
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377 not being incremented and flag an error. */
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378 vTaskDelete( NULL );
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380 /*-----------------------------------------------------------*/
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382 static void prvRegTestTaskEntry2( void *pvParameters )
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384 /* Although the regtest task is written in assembler, its entry point is
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385 written in C for convenience of checking the task parameter is being passed
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387 if( pvParameters == mainREG_TEST_TASK_2_PARAMETER )
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389 /* Start the part of the test that is written in assembler. */
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390 vRegTest2Implementation();
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393 /* The following line will only execute if the task parameter is found to
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394 be incorrect. The check task will detect that the regtest loop counter is
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395 not being incremented and flag an error. */
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396 vTaskDelete( NULL );
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398 /*-----------------------------------------------------------*/
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400 void vFullDemoTickHook( void )
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402 /* The full demo includes a software timer demo/test that requires
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403 prodding periodically from the tick interrupt. */
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404 vTimerPeriodicISRTests();
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406 /* Call the periodic event group from ISR demo. */
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407 vPeriodicEventGroupsProcessing();
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409 /* Use task notifications from an interrupt. */
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410 xNotifyTaskFromISR();
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412 /* Writes to stream buffer byte by byte to test the stream buffer trigger
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413 level functionality. */
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414 vPeriodicStreamBufferProcessing();
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416 /* Writes a string to a string buffer four bytes at a time to demonstrate
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417 a stream being sent from an interrupt to a task. */
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418 vBasicStreamBufferSendFromISR();
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420 /* Called from vApplicationTickHook() when the project is configured to
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421 build the full test/demo applications. */
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423 /*-----------------------------------------------------------*/
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425 static void prvSetupPeripheralTimers( void )
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427 TMR_init( &g_timer0,
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428 CORETIMER0_BASE_ADDR,
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429 TMR_CONTINUOUS_MODE,
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430 PRESCALER_DIV_1024,
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433 TMR_init( &g_timer1,
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434 CORETIMER1_BASE_ADDR,
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435 TMR_CONTINUOUS_MODE,
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439 /* In this version of the PLIC, the priorities are fixed at 1.
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440 Lower numbered devices have higher priorities. But this code is given as
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443 PLIC_SetPriority( External_30_IRQn, 1 );
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444 PLIC_SetPriority( External_31_IRQn, 1 );
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446 /*Enable Timer 1 & 0 Interrupt*/
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447 PLIC_EnableIRQ( External_30_IRQn );
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448 PLIC_EnableIRQ( External_31_IRQn );
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450 /* Enable the timers */
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451 TMR_enable_int( &g_timer0 );
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452 TMR_enable_int( &g_timer1 );
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454 /* Make sure timers don't interrupt until the scheduler is running. */
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455 portDISABLE_INTERRUPTS();
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457 /*Start the timer*/
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458 TMR_start( &g_timer0 );
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459 TMR_start( &g_timer1 );
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461 /*-----------------------------------------------------------*/
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463 /*Core Timer 0 Interrupt Handler*/
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464 uint8_t External_30_IRQHandler( void )
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466 ulTimer0Interrupts++;
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467 TMR_clear_int(&g_timer0);
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468 return( EXT_IRQ_KEEP_ENABLED );
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470 /*-----------------------------------------------------------*/
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472 /*Core Timer 1 Interrupt Handler*/
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473 uint8_t External_31_IRQHandler( void )
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475 ulTimer1Interrupts++;
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476 TMR_clear_int(&g_timer1);
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478 return( EXT_IRQ_KEEP_ENABLED );
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