2 FreeRTOS V8.2.0rc1 - Copyright (C) 2014 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 >>! NOTE: The modification to the GPL is included to allow you to !<<
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14 >>! distribute a combined work that includes FreeRTOS without being !<<
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15 >>! obliged to provide the source code for proprietary components !<<
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16 >>! outside of the FreeRTOS kernel. !<<
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18 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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19 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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20 FOR A PARTICULAR PURPOSE. Full license text is available on the following
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21 link: http://www.freertos.org/a00114.html
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25 ***************************************************************************
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27 * Having a problem? Start by reading the FAQ "My application does *
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28 * not run, what could be wrong?". Have you defined configASSERT()? *
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30 * http://www.FreeRTOS.org/FAQHelp.html *
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32 ***************************************************************************
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34 ***************************************************************************
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36 * FreeRTOS provides completely free yet professionally developed, *
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37 * robust, strictly quality controlled, supported, and cross *
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38 * platform software that is more than just the market leader, it *
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39 * is the industry's de facto standard. *
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41 * Help yourself get started quickly while simultaneously helping *
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42 * to support the FreeRTOS project by purchasing a FreeRTOS *
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43 * tutorial book, reference manual, or both: *
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44 * http://www.FreeRTOS.org/Documentation *
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46 ***************************************************************************
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48 ***************************************************************************
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50 * Investing in training allows your team to be as productive as *
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51 * possible as early as possible, lowering your overall development *
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52 * cost, and enabling you to bring a more robust product to market *
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53 * earlier than would otherwise be possible. Richard Barry is both *
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54 * the architect and key author of FreeRTOS, and so also the world's *
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55 * leading authority on what is the world's most popular real time *
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56 * kernel for deeply embedded MCU designs. Obtaining your training *
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57 * from Richard ensures your team will gain directly from his in-depth *
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58 * product knowledge and years of usage experience. Contact Real Time *
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59 * Engineers Ltd to enquire about the FreeRTOS Masterclass, presented *
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60 * by Richard Barry: http://www.FreeRTOS.org/contact
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62 ***************************************************************************
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64 ***************************************************************************
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66 * You are receiving this top quality software for free. Please play *
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67 * fair and reciprocate by reporting any suspected issues and *
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68 * participating in the community forum: *
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69 * http://www.FreeRTOS.org/support *
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73 ***************************************************************************
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75 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
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76 license and Real Time Engineers Ltd. contact details.
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78 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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79 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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80 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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82 http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
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83 Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
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85 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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86 Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
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87 licenses offer ticketed support, indemnification and commercial middleware.
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89 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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90 engineered and independently SIL3 certified version for use in safety and
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91 mission critical applications that require provable dependability.
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96 /* ****************************************************************************
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97 * This project includes a lot of tasks and tests and is therefore complex.
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98 * If you would prefer a much simpler project to get started with then select
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99 * the 'Blinky' build configuration within the Embedded Workbench IDE.
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100 * ****************************************************************************
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102 * Creates all the demo application tasks, then starts the scheduler. The web
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103 * documentation provides more details of the standard demo application tasks,
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104 * which provide no particular functionality but do provide a good example of
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105 * how to use the FreeRTOS API. The tasks defined in flop.c are included in the
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106 * set of standard demo tasks to ensure the floating point unit gets some
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109 * In addition to the standard demo tasks, the following tasks and tests are
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110 * defined and/or created within this file:
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112 * Webserver ("uIP") task - This serves a number of dynamically generated WEB
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113 * pages to a standard WEB browser. The IP and MAC addresses are configured by
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114 * constants defined at the bottom of FreeRTOSConfig.h. Use either a standard
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115 * Ethernet cable to connect through a hug, or a cross over (point to point)
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116 * cable to connect directly. Ensure the IP address used is compatible with the
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117 * IP address of the machine running the browser - the easiest way to achieve
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118 * this is to ensure the first three octets of the IP addresses are the same.
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120 * "Reg test" tasks - These fill the registers with known values, then check
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121 * that each register still contains its expected value. Each task uses
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122 * different values. The tasks run with very low priority so get preempted
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123 * very frequently. A check variable is incremented on each iteration of the
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124 * test loop. A register containing an unexpected value is indicative of an
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125 * error in the context switching mechanism and will result in a branch to a
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126 * null loop - which in turn will prevent the check variable from incrementing
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127 * any further and allow the check task (described below) to determine that an
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128 * error has occurred. The nature of the reg test tasks necessitates that they
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129 * are written in assembly code.
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131 * "Check" task - This only executes every five seconds but has a high priority
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132 * to ensure it gets processor time. Its main function is to check that all the
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133 * standard demo tasks are still operational. While no errors have been
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134 * discovered the check task will toggle LED 5 every 5 seconds - the toggle
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135 * rate increasing to 200ms being a visual indication that at least one task has
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136 * reported unexpected behaviour.
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138 * "High frequency timer test" - A high frequency periodic interrupt is
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139 * generated using a timer - the interrupt is assigned a priority above
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140 * configMAX_SYSCALL_INTERRUPT_PRIORITY so should not be effected by anything
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141 * the kernel is doing. The frequency and priority of the interrupt, in
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142 * combination with other standard tests executed in this demo, should result
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143 * in interrupts nesting at least 3 and probably 4 deep. This test is only
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144 * included in build configurations that have the optimiser switched on. In
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145 * optimised builds the count of high frequency ticks is used as the time base
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146 * for the run time stats.
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148 * *NOTE 1* If LED5 is toggling every 5 seconds then all the demo application
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149 * tasks are executing as expected and no errors have been reported in any
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150 * tasks. The toggle rate increasing to 200ms indicates that at least one task
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151 * has reported unexpected behaviour.
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153 * *NOTE 2* vApplicationSetupTimerInterrupt() is called by the kernel to let
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154 * the application set up a timer to generate the tick interrupt. In this
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155 * example a compare match timer is used for this purpose.
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157 * *NOTE 3* The CPU must be in Supervisor mode when the scheduler is started.
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158 * The PowerON_Reset_PC() supplied in resetprg.c with this demo has
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159 * Change_PSW_PM_to_UserMode() commented out to ensure this is the case.
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161 * *NOTE 4* The IntQueue common demo tasks test interrupt nesting and make use
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162 * of all the 8bit timers (as two cascaded 16bit units).
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165 /* Standard includes. */
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166 #include <string.h>
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169 /* Hardware specific includes. */
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170 #include <iorx62n.h>
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172 /* Kernel includes. */
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173 #include "FreeRTOS.h"
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176 /* Standard demo includes. */
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177 #include "partest.h"
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179 #include "IntQueue.h"
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180 #include "BlockQ.h"
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182 #include "integer.h"
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183 #include "blocktim.h"
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184 #include "semtest.h"
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186 #include "GenQTest.h"
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188 #include "recmutex.h"
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191 /* Values that are passed into the reg test tasks using the task parameter. The
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192 tasks check that the values are passed in correctly. */
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193 #define mainREG_TEST_1_PARAMETER ( 0x12121212UL )
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194 #define mainREG_TEST_2_PARAMETER ( 0x12345678UL )
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196 /* Priorities at which the tasks are created. */
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197 #define mainCHECK_TASK_PRIORITY ( configMAX_PRIORITIES - 1 )
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198 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 1 )
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199 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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200 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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201 #define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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202 #define mainFLASH_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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203 #define mainuIP_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
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204 #define mainINTEGER_TASK_PRIORITY ( tskIDLE_PRIORITY )
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205 #define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )
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206 #define mainFLOP_TASK_PRIORITY ( tskIDLE_PRIORITY )
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208 /* The WEB server uses string handling functions, which in turn use a bit more
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209 stack than most of the other tasks. */
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210 #define mainuIP_STACK_SIZE ( configMINIMAL_STACK_SIZE * 3 )
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212 /* The LED toggled by the check task. */
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213 #define mainCHECK_LED ( 5 )
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215 /* The rate at which mainCHECK_LED will toggle when all the tasks are running
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216 without error. Controlled by the check task as described at the top of this
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218 #define mainNO_ERROR_CYCLE_TIME ( 5000 / portTICK_PERIOD_MS )
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220 /* The rate at which mainCHECK_LED will toggle when an error has been reported
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221 by at least one task. Controlled by the check task as described at the top of
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223 #define mainERROR_CYCLE_TIME ( 200 / portTICK_PERIOD_MS )
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225 /* For outputing debug console messages - just maps to printf. */
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227 #define xPrintf( x ) printf( x )
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229 #define xPrintf( x ) ( void ) x
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233 * vApplicationMallocFailedHook() will only be called if
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234 * configUSE_MALLOC_FAILED_HOOK is set to 1 in FreeRTOSConfig.h. It is a hook
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235 * function that will execute if a call to pvPortMalloc() fails.
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236 * pvPortMalloc() is called internally by the kernel whenever a task, queue or
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237 * semaphore is created. It is also called by various parts of the demo
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240 void vApplicationMallocFailedHook( void );
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243 * vApplicationIdleHook() will only be called if configUSE_IDLE_HOOK is set to 1
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244 * in FreeRTOSConfig.h. It is a hook function that is called on each iteration
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245 * of the idle task. It is essential that code added to this hook function
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246 * never attempts to block in any way (for example, call xQueueReceive() with
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247 * a block time specified). If the application makes use of the vTaskDelete()
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248 * API function (as this demo application does) then it is also important that
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249 * vApplicationIdleHook() is permitted to return to its calling function because
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250 * it is the responsibility of the idle task to clean up memory allocated by the
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251 * kernel to any task that has since been deleted.
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253 void vApplicationIdleHook( void );
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256 * vApplicationStackOverflowHook() will only be called if
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257 * configCHECK_FOR_STACK_OVERFLOW is set to a non-zero value. The handle and
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258 * name of the offending task should be passed in the function parameters, but
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259 * it is possible that the stack overflow will have corrupted these - in which
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260 * case pxCurrentTCB can be inspected to find the same information.
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262 void vApplicationStackOverflowHook( TaskHandle_t pxTask, char *pcTaskName );
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265 * The reg test tasks as described at the top of this file.
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267 static void prvRegTest1Task( void *pvParameters );
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268 static void prvRegTest2Task( void *pvParameters );
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271 * The actual implementation of the reg test functionality, which, because of
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272 * the direct register access, have to be in assembly.
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274 extern void prvRegTest1Implementation( void );
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275 extern void prvRegTest2Implementation( void );
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279 * The check task as described at the top of this file.
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281 static void prvCheckTask( void *pvParameters );
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284 * Contains the implementation of the WEB server.
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286 extern void vuIP_Task( void *pvParameters );
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288 /*-----------------------------------------------------------*/
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290 /* Variables that are incremented on each iteration of the reg test tasks -
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291 provided the tasks have not reported any errors. The check task inspects these
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292 variables to ensure they are still incrementing as expected. If a variable
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293 stops incrementing then it is likely that its associate task has stalled. */
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294 unsigned long ulRegTest1CycleCount = 0UL, ulRegTest2CycleCount = 0UL;
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296 /* The status message that is displayed at the bottom of the "task stats" web
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297 page, which is served by the uIP task. This will report any errors picked up
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298 by the reg test task. */
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299 static const char *pcStatusMessage = NULL;
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301 /*-----------------------------------------------------------*/
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305 extern void HardwareSetup( void );
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307 /* Renesas provided CPU configuration routine. The clocks are configured in
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311 xPrintf( "http://www.FreeRTOS.org\r\n" );
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313 /* Start the reg test tasks which test the context switching mechanism. */
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314 xTaskCreate( prvRegTest1Task, "RegTst1", configMINIMAL_STACK_SIZE, ( void * ) mainREG_TEST_1_PARAMETER, tskIDLE_PRIORITY, NULL );
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315 xTaskCreate( prvRegTest2Task, "RegTst2", configMINIMAL_STACK_SIZE, ( void * ) mainREG_TEST_2_PARAMETER, tskIDLE_PRIORITY, NULL );
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317 /* The web server task. */
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318 xTaskCreate( vuIP_Task, "uIP", mainuIP_STACK_SIZE, NULL, mainuIP_TASK_PRIORITY, NULL );
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320 /* Start the check task as described at the top of this file. */
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321 xTaskCreate( prvCheckTask, "Check", configMINIMAL_STACK_SIZE * 3, NULL, mainCHECK_TASK_PRIORITY, NULL );
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323 /* Create the standard demo tasks. */
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324 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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325 vCreateBlockTimeTasks();
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326 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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327 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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328 vStartIntegerMathTasks( mainINTEGER_TASK_PRIORITY );
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329 vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
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330 vStartLEDFlashTasks( mainFLASH_TASK_PRIORITY );
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331 vStartQueuePeekTasks();
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332 vStartRecursiveMutexTasks();
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333 vStartInterruptQueueTasks();
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334 vStartMathTasks( mainFLOP_TASK_PRIORITY );
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336 /* The suicide tasks must be created last as they need to know how many
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337 tasks were running prior to their creation in order to ascertain whether
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338 or not the correct/expected number of tasks are running at any given time. */
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339 vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
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341 /* Start the tasks running. */
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342 vTaskStartScheduler();
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344 /* If all is well we will never reach here as the scheduler will now be
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345 running. If we do reach here then it is likely that there was insufficient
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346 heap available for the idle task to be created. */
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349 /*-----------------------------------------------------------*/
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351 static void prvCheckTask( void *pvParameters )
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353 static volatile unsigned long ulLastRegTest1CycleCount = 0UL, ulLastRegTest2CycleCount = 0UL;
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354 TickType_t xNextWakeTime, xCycleFrequency = mainNO_ERROR_CYCLE_TIME;
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355 extern void vSetupHighFrequencyTimer( void );
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357 /* If this is being executed then the kernel has been started. Start the high
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358 frequency timer test as described at the top of this file. This is only
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359 included in the optimised build configuration - otherwise it takes up too much
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361 #ifdef INCLUDE_HIGH_FREQUENCY_TIMER_TEST
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362 vSetupHighFrequencyTimer();
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365 /* Initialise xNextWakeTime - this only needs to be done once. */
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366 xNextWakeTime = xTaskGetTickCount();
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370 /* Place this task in the blocked state until it is time to run again. */
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371 vTaskDelayUntil( &xNextWakeTime, xCycleFrequency );
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373 /* Check the standard demo tasks are running without error. */
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374 if( xAreGenericQueueTasksStillRunning() != pdTRUE )
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376 /* Increase the rate at which this task cycles, which will increase the
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377 rate at which mainCHECK_LED flashes to give visual feedback that an error
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379 pcStatusMessage = "Error: GenQueue";
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380 xPrintf( pcStatusMessage );
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383 if( xAreQueuePeekTasksStillRunning() != pdTRUE )
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385 pcStatusMessage = "Error: QueuePeek\r\n";
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386 xPrintf( pcStatusMessage );
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389 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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391 pcStatusMessage = "Error: BlockQueue\r\n";
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392 xPrintf( pcStatusMessage );
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395 if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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397 pcStatusMessage = "Error: BlockTime\r\n";
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398 xPrintf( pcStatusMessage );
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401 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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403 pcStatusMessage = "Error: SemTest\r\n";
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404 xPrintf( pcStatusMessage );
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407 if( xArePollingQueuesStillRunning() != pdTRUE )
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409 pcStatusMessage = "Error: PollQueue\r\n";
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410 xPrintf( pcStatusMessage );
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413 if( xIsCreateTaskStillRunning() != pdTRUE )
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415 pcStatusMessage = "Error: Death\r\n";
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416 xPrintf( pcStatusMessage );
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419 if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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421 pcStatusMessage = "Error: IntMath\r\n";
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422 xPrintf( pcStatusMessage );
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425 if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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427 pcStatusMessage = "Error: RecMutex\r\n";
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428 xPrintf( pcStatusMessage );
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431 if( xAreIntQueueTasksStillRunning() != pdPASS )
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433 pcStatusMessage = "Error: IntQueue\r\n";
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434 xPrintf( pcStatusMessage );
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437 if( xAreMathsTaskStillRunning() != pdPASS )
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439 pcStatusMessage = "Error: Flop\r\n";
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440 xPrintf( pcStatusMessage );
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443 /* Check the reg test tasks are still cycling. They will stop incrementing
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444 their loop counters if they encounter an error. */
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445 if( ulRegTest1CycleCount == ulLastRegTest1CycleCount )
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447 pcStatusMessage = "Error: RegTest1\r\n";
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448 xPrintf( pcStatusMessage );
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451 if( ulRegTest2CycleCount == ulLastRegTest2CycleCount )
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453 pcStatusMessage = "Error: RegTest2\r\n";
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454 xPrintf( pcStatusMessage );
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457 ulLastRegTest1CycleCount = ulRegTest1CycleCount;
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458 ulLastRegTest2CycleCount = ulRegTest2CycleCount;
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460 /* Toggle the check LED to give an indication of the system status. If
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461 the LED toggles every 5 seconds then everything is ok. A faster toggle
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462 indicates an error. */
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463 vParTestToggleLED( mainCHECK_LED );
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465 /* Ensure the LED toggles at a faster rate if an error has occurred. */
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466 if( pcStatusMessage != NULL )
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468 xCycleFrequency = mainERROR_CYCLE_TIME;
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472 /*-----------------------------------------------------------*/
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474 /* The RX port uses this callback function to configure its tick interrupt.
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475 This allows the application to choose the tick interrupt source. */
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476 void vApplicationSetupTimerInterrupt( void )
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478 /* Enable compare match timer 0. */
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481 /* Interrupt on compare match. */
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482 CMT0.CMCR.BIT.CMIE = 1;
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484 /* Set the compare match value. */
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485 CMT0.CMCOR = ( unsigned short ) ( ( ( configPERIPHERAL_CLOCK_HZ / configTICK_RATE_HZ ) -1 ) / 8 );
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487 /* Divide the PCLK by 8. */
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488 CMT0.CMCR.BIT.CKS = 0;
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490 /* Enable the interrupt... */
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491 _IEN( _CMT0_CMI0 ) = 1;
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493 /* ...and set its priority to the application defined kernel priority. */
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494 _IPR( _CMT0_CMI0 ) = configKERNEL_INTERRUPT_PRIORITY;
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496 /* Start the timer. */
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497 CMT.CMSTR0.BIT.STR0 = 1;
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499 /*-----------------------------------------------------------*/
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501 /* This function is explained by the comments above its prototype at the top
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503 void vApplicationMallocFailedHook( void )
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507 /*-----------------------------------------------------------*/
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509 /* This function is explained by the comments above its prototype at the top
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511 void vApplicationStackOverflowHook( TaskHandle_t pxTask, char *pcTaskName )
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515 /*-----------------------------------------------------------*/
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517 /* This function is explained by the comments above its prototype at the top
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519 void vApplicationIdleHook( void )
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522 /*-----------------------------------------------------------*/
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524 /* This function is explained in the comments at the top of this file. */
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525 static void prvRegTest1Task( void *pvParameters )
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527 if( ( ( unsigned long ) pvParameters ) != mainREG_TEST_1_PARAMETER )
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529 /* The parameter did not contain the expected value. */
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532 /* Stop the tick interrupt so its obvious something has gone wrong. */
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533 taskDISABLE_INTERRUPTS();
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537 /* This is an asm function that never returns. */
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538 prvRegTest1Implementation();
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540 /*-----------------------------------------------------------*/
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542 /* This function is explained in the comments at the top of this file. */
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543 static void prvRegTest2Task( void *pvParameters )
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545 if( ( ( unsigned long ) pvParameters ) != mainREG_TEST_2_PARAMETER )
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547 /* The parameter did not contain the expected value. */
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550 /* Stop the tick interrupt so its obvious something has gone wrong. */
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551 taskDISABLE_INTERRUPTS();
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555 /* This is an asm function that never returns. */
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556 prvRegTest2Implementation();
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558 /*-----------------------------------------------------------*/
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560 char *pcGetTaskStatusMessage( void )
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562 /* Not bothered about a critical section here although technically because of
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563 the task priorities the pointer could change it will be atomic if not near
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564 atomic and its not critical. */
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565 if( pcStatusMessage == NULL )
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567 return "All tasks running without error";
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571 return ( char * ) pcStatusMessage;
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574 /*-----------------------------------------------------------*/
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