2 FreeRTOS V9.0.0rc1 - Copyright (C) 2016 Real Time Engineers Ltd.
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5 VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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7 This file is part of the FreeRTOS distribution.
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9 FreeRTOS is free software; you can redistribute it and/or modify it under
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10 the terms of the GNU General Public License (version 2) as published by the
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11 Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception.
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13 ***************************************************************************
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14 >>! NOTE: The modification to the GPL is included to allow you to !<<
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15 >>! distribute a combined work that includes FreeRTOS without being !<<
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16 >>! obliged to provide the source code for proprietary components !<<
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17 >>! outside of the FreeRTOS kernel. !<<
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18 ***************************************************************************
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20 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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21 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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22 FOR A PARTICULAR PURPOSE. Full license text is available on the following
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23 link: http://www.freertos.org/a00114.html
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25 ***************************************************************************
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27 * FreeRTOS provides completely free yet professionally developed, *
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28 * robust, strictly quality controlled, supported, and cross *
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29 * platform software that is more than just the market leader, it *
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30 * is the industry's de facto standard. *
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32 * Help yourself get started quickly while simultaneously helping *
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33 * to support the FreeRTOS project by purchasing a FreeRTOS *
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34 * tutorial book, reference manual, or both: *
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35 * http://www.FreeRTOS.org/Documentation *
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37 ***************************************************************************
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39 http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
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40 the FAQ page "My application does not run, what could be wrong?". Have you
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41 defined configASSERT()?
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43 http://www.FreeRTOS.org/support - In return for receiving this top quality
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44 embedded software for free we request you assist our global community by
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45 participating in the support forum.
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47 http://www.FreeRTOS.org/training - Investing in training allows your team to
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48 be as productive as possible as early as possible. Now you can receive
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49 FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
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50 Ltd, and the world's leading authority on the world's leading RTOS.
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52 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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53 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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54 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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56 http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
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57 Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
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59 http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
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60 Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
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61 licenses offer ticketed support, indemnification and commercial middleware.
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63 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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64 engineered and independently SIL3 certified version for use in safety and
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65 mission critical applications that require provable dependability.
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71 *******************************************************************************
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72 * NOTE: Windows will not be running the FreeRTOS demo threads continuously, so
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73 * do not expect to get real time behaviour from the FreeRTOS Windows port, or
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74 * this demo application. Also, the timing information in the FreeRTOS+Trace
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75 * logs have no meaningful units. See the documentation page for the Windows
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76 * port for further information:
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77 * http://www.freertos.org/FreeRTOS-Windows-Simulator-Emulator-for-Visual-Studio-and-Eclipse-MingW.html
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79 * NOTE 2: This project provides two demo applications. A simple blinky style
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80 * project, and a more comprehensive test and demo application. The
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81 * mainCREATE_SIMPLE_BLINKY_DEMO_ONLY setting in main.c is used to select
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82 * between the two. See the notes on using mainCREATE_SIMPLE_BLINKY_DEMO_ONLY
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83 * in main.c. This file implements the comprehensive test and demo version.
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85 * NOTE 3: This file only contains the source code that is specific to the
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86 * basic demo. Generic functions, such FreeRTOS hook functions, are defined in
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88 *******************************************************************************
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90 * main() creates all the demo application tasks, then starts the scheduler.
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91 * The web documentation provides more details of the standard demo application
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92 * tasks, which provide no particular functionality but do provide a good
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93 * example of how to use the FreeRTOS API.
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95 * In addition to the standard demo tasks, the following tasks and tests are
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96 * defined and/or created within this file:
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98 * "Check" task - This only executes every five seconds but has a high priority
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99 * to ensure it gets processor time. Its main function is to check that all the
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100 * standard demo tasks are still operational. While no errors have been
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101 * discovered the check task will print out "No Errors" along with some system
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102 * status information. If an error is discovered in the execution of a task
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103 * then the check task will print out an appropriate error message.
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108 /* Standard includes. */
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110 #include <stdlib.h>
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112 /* Kernel includes. */
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113 #include <FreeRTOS.h>
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116 #include <timers.h>
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117 #include <semphr.h>
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119 /* Standard demo includes. */
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120 #include "BlockQ.h"
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121 #include "integer.h"
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122 #include "semtest.h"
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124 #include "GenQTest.h"
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126 #include "recmutex.h"
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128 #include "TimerDemo.h"
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129 #include "countsem.h"
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131 #include "dynamic.h"
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132 #include "QueueSet.h"
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133 #include "QueueOverwrite.h"
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134 #include "EventGroupsDemo.h"
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135 #include "IntSemTest.h"
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136 #include "TaskNotify.h"
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137 #include "QueueSetPolling.h"
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138 #include "StaticAllocation.h"
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139 #include "blocktim.h"
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140 #include "AbortDelay.h"
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142 /* Priorities at which the tasks are created. */
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143 #define mainCHECK_TASK_PRIORITY ( configMAX_PRIORITIES - 2 )
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144 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 1 )
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145 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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146 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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147 #define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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148 #define mainFLASH_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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149 #define mainINTEGER_TASK_PRIORITY ( tskIDLE_PRIORITY )
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150 #define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )
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151 #define mainFLOP_TASK_PRIORITY ( tskIDLE_PRIORITY )
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152 #define mainQUEUE_OVERWRITE_PRIORITY ( tskIDLE_PRIORITY )
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154 #define mainTIMER_TEST_PERIOD ( 50 )
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156 /* Task function prototypes. */
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157 static void prvCheckTask( void *pvParameters );
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159 /* A task that is created from the idle task to test the functionality of
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160 eTaskStateGet(). */
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161 static void prvTestTask( void *pvParameters );
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164 * Called from the idle task hook function to demonstrate a few utility
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165 * functions that are not demonstrated by any of the standard demo tasks.
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167 static void prvDemonstrateTaskStateAndHandleGetFunctions( void );
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170 * Called from the idle task hook function to demonstrate the use of
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171 * xTimerPendFunctionCall() as xTimerPendFunctionCall() is not demonstrated by
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172 * any of the standard demo tasks.
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174 static void prvDemonstratePendingFunctionCall( void );
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177 * The function that is pended by prvDemonstratePendingFunctionCall().
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179 static void prvPendedFunction( void *pvParameter1, uint32_t ulParameter2 );
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182 * prvDemonstrateTimerQueryFunctions() is called from the idle task hook
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183 * function to demonstrate the use of functions that query information about a
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184 * software timer. prvTestTimerCallback() is the callback function for the
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185 * timer being queried.
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187 static void prvDemonstrateTimerQueryFunctions( void );
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188 static void prvTestTimerCallback( TimerHandle_t xTimer );
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191 * A task to demonstrate the use of the xQueueSpacesAvailable() function.
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193 static void prvDemoQueueSpaceFunctions( void *pvParameters );
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196 * Tasks that ensure indefinite delays are truly indefinite.
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198 static void prvPermanentlyBlockingSemaphoreTask( void *pvParameters );
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199 static void prvPermanentlyBlockingNotificationTask( void *pvParameters );
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201 /*-----------------------------------------------------------*/
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203 /* The variable into which error messages are latched. */
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204 static char *pcStatusMessage = "No errors";
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206 /* This semaphore is created purely to test using the vSemaphoreDelete() and
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207 semaphore tracing API functions. It has no other purpose. */
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208 static SemaphoreHandle_t xMutexToDelete = NULL;
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210 /*-----------------------------------------------------------*/
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212 int main_full( void )
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214 /* Start the check task as described at the top of this file. */
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215 xTaskCreate( prvCheckTask, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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217 /* Create the standard demo tasks. */
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218 vStartTaskNotifyTask();
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219 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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220 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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221 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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222 vStartIntegerMathTasks( mainINTEGER_TASK_PRIORITY );
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223 vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
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224 vStartQueuePeekTasks();
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225 vStartMathTasks( mainFLOP_TASK_PRIORITY );
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226 vStartRecursiveMutexTasks();
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227 vStartCountingSemaphoreTasks();
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228 vStartDynamicPriorityTasks();
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229 vStartQueueSetTasks();
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230 vStartQueueOverwriteTask( mainQUEUE_OVERWRITE_PRIORITY );
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231 vStartEventGroupTasks();
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232 vStartInterruptSemaphoreTasks();
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233 vStartQueueSetPollingTask();
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234 vCreateBlockTimeTasks();
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235 vCreateAbortDelayTasks();
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236 xTaskCreate( prvDemoQueueSpaceFunctions, "QSpace", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
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237 xTaskCreate( prvPermanentlyBlockingSemaphoreTask, "BlockSem", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
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238 xTaskCreate( prvPermanentlyBlockingNotificationTask, "BlockNoti", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
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240 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
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242 vStartStaticallyAllocatedTasks();
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246 #if( configUSE_PREEMPTION != 0 )
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248 /* Don't expect these tasks to pass when preemption is not used. */
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249 vStartTimerDemoTask( mainTIMER_TEST_PERIOD );
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253 /* The suicide tasks must be created last as they need to know how many
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254 tasks were running prior to their creation. This then allows them to
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255 ascertain whether or not the correct/expected number of tasks are running at
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257 vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
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259 /* Create the semaphore that will be deleted in the idle task hook. This
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260 is done purely to test the use of vSemaphoreDelete(). */
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261 xMutexToDelete = xSemaphoreCreateMutex();
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263 /* Start the scheduler itself. */
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264 vTaskStartScheduler();
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266 /* Should never get here unless there was not enough heap space to create
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267 the idle and other system tasks. */
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270 /*-----------------------------------------------------------*/
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272 static void prvCheckTask( void *pvParameters )
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274 TickType_t xNextWakeTime;
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275 const TickType_t xCycleFrequency = pdMS_TO_TICKS( 2500UL );
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277 /* Just to remove compiler warning. */
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278 ( void ) pvParameters;
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280 /* Initialise xNextWakeTime - this only needs to be done once. */
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281 xNextWakeTime = xTaskGetTickCount();
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285 /* Place this task in the blocked state until it is time to run again. */
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286 vTaskDelayUntil( &xNextWakeTime, xCycleFrequency );
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288 /* Check the standard demo tasks are running without error. */
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289 #if( configUSE_PREEMPTION != 0 )
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291 /* These tasks are only created when preemption is used. */
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292 if( xAreTimerDemoTasksStillRunning( xCycleFrequency ) != pdTRUE )
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294 pcStatusMessage = "Error: TimerDemo";
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299 if( xAreTaskNotificationTasksStillRunning() != pdTRUE )
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301 pcStatusMessage = "Error: Notification";
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304 if( xAreInterruptSemaphoreTasksStillRunning() != pdTRUE )
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306 pcStatusMessage = "Error: IntSem";
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308 else if( xAreEventGroupTasksStillRunning() != pdTRUE )
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310 pcStatusMessage = "Error: EventGroup";
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312 else if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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314 pcStatusMessage = "Error: IntMath";
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316 else if( xAreGenericQueueTasksStillRunning() != pdTRUE )
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318 pcStatusMessage = "Error: GenQueue";
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320 else if( xAreQueuePeekTasksStillRunning() != pdTRUE )
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322 pcStatusMessage = "Error: QueuePeek";
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324 else if( xAreBlockingQueuesStillRunning() != pdTRUE )
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326 pcStatusMessage = "Error: BlockQueue";
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328 else if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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330 pcStatusMessage = "Error: SemTest";
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332 else if( xArePollingQueuesStillRunning() != pdTRUE )
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334 pcStatusMessage = "Error: PollQueue";
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336 else if( xAreMathsTaskStillRunning() != pdPASS )
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338 pcStatusMessage = "Error: Flop";
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340 else if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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342 pcStatusMessage = "Error: RecMutex";
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344 else if( xAreCountingSemaphoreTasksStillRunning() != pdTRUE )
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346 pcStatusMessage = "Error: CountSem";
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348 else if( xIsCreateTaskStillRunning() != pdTRUE )
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350 pcStatusMessage = "Error: Death";
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352 else if( xAreDynamicPriorityTasksStillRunning() != pdPASS )
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354 pcStatusMessage = "Error: Dynamic";
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356 else if( xAreQueueSetTasksStillRunning() != pdPASS )
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358 pcStatusMessage = "Error: Queue set";
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360 else if( xIsQueueOverwriteTaskStillRunning() != pdPASS )
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362 pcStatusMessage = "Error: Queue overwrite";
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364 else if( xAreQueueSetPollTasksStillRunning() != pdPASS )
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366 pcStatusMessage = "Error: Queue set polling";
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368 else if( xAreBlockTimeTestTasksStillRunning() != pdPASS )
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370 pcStatusMessage = "Error: Block time";
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372 else if( xAreAbortDelayTestTasksStillRunning() != pdPASS )
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374 pcStatusMessage = "Error: Abort delay";
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377 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
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378 else if( xAreStaticAllocationTasksStillRunning() != pdPASS )
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380 pcStatusMessage = "Error: Static allocation";
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382 #endif /* configSUPPORT_STATIC_ALLOCATION */
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384 /* This is the only task that uses stdout so its ok to call printf()
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386 printf( "%s - tick count %d - free heap %d - min free heap %d\r\n", pcStatusMessage,
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387 xTaskGetTickCount(),
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388 xPortGetFreeHeapSize(),
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389 xPortGetMinimumEverFreeHeapSize() );
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392 /*-----------------------------------------------------------*/
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394 static void prvTestTask( void *pvParameters )
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396 const unsigned long ulMSToSleep = 5;
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398 /* Just to remove compiler warnings. */
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399 ( void ) pvParameters;
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401 /* This task is just used to test the eTaskStateGet() function. It
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402 does not have anything to do. */
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405 /* Sleep to reduce CPU load, but don't sleep indefinitely in case there are
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406 tasks waiting to be terminated by the idle task. */
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407 Sleep( ulMSToSleep );
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410 /*-----------------------------------------------------------*/
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412 /* Called from vApplicationIdleHook(), which is defined in main.c. */
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413 void vFullDemoIdleFunction( void )
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415 const unsigned long ulMSToSleep = 15;
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418 /* Sleep to reduce CPU load, but don't sleep indefinitely in case there are
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419 tasks waiting to be terminated by the idle task. */
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420 Sleep( ulMSToSleep );
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422 /* Demonstrate a few utility functions that are not demonstrated by any of
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423 the standard demo tasks. */
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424 prvDemonstrateTaskStateAndHandleGetFunctions();
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426 /* Demonstrate the use of xTimerPendFunctionCall(), which is not
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427 demonstrated by any of the standard demo tasks. */
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428 prvDemonstratePendingFunctionCall();
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430 /* Demonstrate the use of functions that query information about a software
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432 prvDemonstrateTimerQueryFunctions();
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435 /* If xMutexToDelete has not already been deleted, then delete it now.
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436 This is done purely to demonstrate the use of, and test, the
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437 vSemaphoreDelete() macro. Care must be taken not to delete a semaphore
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438 that has tasks blocked on it. */
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439 if( xMutexToDelete != NULL )
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441 /* For test purposes, add the mutex to the registry, then remove it
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442 again, before it is deleted - checking its name is as expected before
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443 and after the assertion into the registry and its removal from the
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445 configASSERT( pcQueueGetName( xMutexToDelete ) == NULL );
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446 vQueueAddToRegistry( xMutexToDelete, "Test_Mutex" );
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447 configASSERT( strcmp( pcQueueGetName( xMutexToDelete ), "Test_Mutex" ) == 0 );
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448 vQueueUnregisterQueue( xMutexToDelete );
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449 configASSERT( pcQueueGetName( xMutexToDelete ) == NULL );
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451 vSemaphoreDelete( xMutexToDelete );
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452 xMutexToDelete = NULL;
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455 /* Exercise heap_5 a bit. The malloc failed hook will trap failed
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456 allocations so there is no need to test here. */
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457 pvAllocated = pvPortMalloc( ( rand() % 500 ) + 1 );
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458 vPortFree( pvAllocated );
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460 /*-----------------------------------------------------------*/
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462 /* Called by vApplicationTickHook(), which is defined in main.c. */
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463 void vFullDemoTickHookFunction( void )
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465 TaskHandle_t xTimerTask;
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467 /* Call the periodic timer test, which tests the timer API functions that
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468 can be called from an ISR. */
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469 #if( configUSE_PREEMPTION != 0 )
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471 /* Only created when preemption is used. */
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472 vTimerPeriodicISRTests();
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476 /* Call the periodic queue overwrite from ISR demo. */
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477 vQueueOverwritePeriodicISRDemo();
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479 /* Write to a queue that is in use as part of the queue set demo to
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480 demonstrate using queue sets from an ISR. */
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481 vQueueSetAccessQueueSetFromISR();
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482 vQueueSetPollingInterruptAccess();
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484 /* Exercise event groups from interrupts. */
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485 vPeriodicEventGroupsProcessing();
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487 /* Exercise giving mutexes from an interrupt. */
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488 vInterruptSemaphorePeriodicTest();
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490 /* Exercise using task notifications from an interrupt. */
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491 xNotifyTaskFromISR();
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493 /* For code coverage purposes. */
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494 xTimerTask = xTimerGetTimerDaemonTaskHandle();
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495 configASSERT( uxTaskPriorityGetFromISR( xTimerTask ) == configTIMER_TASK_PRIORITY );
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497 /*-----------------------------------------------------------*/
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499 static void prvPendedFunction( void *pvParameter1, uint32_t ulParameter2 )
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501 static uint32_t ulLastParameter1 = 1000UL, ulLastParameter2 = 0UL;
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502 uint32_t ulParameter1;
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504 ulParameter1 = ( uint32_t ) pvParameter1;
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506 /* Ensure the parameters are as expected. */
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507 configASSERT( ulParameter1 == ( ulLastParameter1 + 1 ) );
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508 configASSERT( ulParameter2 == ( ulLastParameter2 + 1 ) );
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510 /* Remember the parameters for the next time the function is called. */
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511 ulLastParameter1 = ulParameter1;
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512 ulLastParameter2 = ulParameter2;
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514 /*-----------------------------------------------------------*/
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516 static void prvTestTimerCallback( TimerHandle_t xTimer )
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518 /* This is the callback function for the timer accessed by
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519 prvDemonstrateTimerQueryFunctions(). The callback does not do anything. */
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522 /*-----------------------------------------------------------*/
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524 static void prvDemonstrateTimerQueryFunctions( void )
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526 static TimerHandle_t xTimer = NULL;
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527 const char *pcTimerName = "TestTimer";
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528 volatile TickType_t xExpiryTime;
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529 const TickType_t xDontBlock = 0;
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531 if( xTimer == NULL )
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533 xTimer = xTimerCreate( pcTimerName, portMAX_DELAY, pdTRUE, NULL, prvTestTimerCallback );
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535 if( xTimer != NULL )
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537 /* Called from the idle task so a block time must not be
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539 xTimerStart( xTimer, xDontBlock );
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543 if( xTimer != NULL )
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545 /* Demonstrate querying a timer's name. */
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546 configASSERT( strcmp( pcTimerGetName( xTimer ), pcTimerName ) == 0 );
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548 /* Demonstrate querying a timer's period. */
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549 configASSERT( xTimerGetPeriod( xTimer ) == portMAX_DELAY );
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551 /* Demonstrate querying a timer's next expiry time, although nothing is
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552 done with the returned value. Note if the expiry time is less than the
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553 maximum tick count then the expiry time has overflowed from the current
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554 time. In this case the expiry time was set to portMAX_DELAY, so it is
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555 expected to be less than the current time until the current time has
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556 itself overflowed. */
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557 xExpiryTime = xTimerGetExpiryTime( xTimer );
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558 ( void ) xExpiryTime;
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561 /*-----------------------------------------------------------*/
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563 static void prvDemonstratePendingFunctionCall( void )
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565 static uint32_t ulParameter1 = 1000UL, ulParameter2 = 0UL;
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566 const TickType_t xDontBlock = 0; /* This is called from the idle task so must *not* attempt to block. */
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568 /* prvPendedFunction() just expects the parameters to be incremented by one
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569 each time it is called. */
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573 /* Pend the function call, sending the parameters. */
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574 xTimerPendFunctionCall( prvPendedFunction, ( void * ) ulParameter1, ulParameter2, xDontBlock );
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576 /*-----------------------------------------------------------*/
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578 static void prvDemonstrateTaskStateAndHandleGetFunctions( void )
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580 TaskHandle_t xIdleTaskHandle, xTimerTaskHandle;
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582 static portBASE_TYPE xPerformedOneShotTests = pdFALSE;
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583 TaskHandle_t xTestTask;
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584 TaskStatus_t xTaskInfo;
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585 extern StackType_t uxTimerTaskStack[];
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587 /* Demonstrate the use of the xTimerGetTimerDaemonTaskHandle() and
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588 xTaskGetIdleTaskHandle() functions. Also try using the function that sets
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589 the task number. */
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590 xIdleTaskHandle = xTaskGetIdleTaskHandle();
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591 xTimerTaskHandle = xTimerGetTimerDaemonTaskHandle();
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593 /* This is the idle hook, so the current task handle should equal the
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594 returned idle task handle. */
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595 if( xTaskGetCurrentTaskHandle() != xIdleTaskHandle )
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597 pcStatusMessage = "Error: Returned idle task handle was incorrect";
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600 /* Check the same handle is obtained using the idle task's name. First try
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601 with the wrong name, then the right name. */
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602 if( xTaskGetTaskHandle( "Idle" ) == xIdleTaskHandle )
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604 pcStatusMessage = "Error: Returned handle for name Idle was incorrect";
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607 if( xTaskGetTaskHandle( "IDLE" ) != xIdleTaskHandle )
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609 pcStatusMessage = "Error: Returned handle for name Idle was incorrect";
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612 /* Check the timer task handle was returned correctly. */
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613 pcTaskName = pcTaskGetName( xTimerTaskHandle );
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614 if( strcmp( pcTaskName, "Tmr Svc" ) != 0 )
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616 pcStatusMessage = "Error: Returned timer task handle was incorrect";
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619 if( xTaskGetTaskHandle( "Tmr Svc" ) != xTimerTaskHandle )
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621 pcStatusMessage = "Error: Returned handle for name Tmr Svc was incorrect";
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624 /* This task is running, make sure it's state is returned as running. */
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625 if( eTaskStateGet( xIdleTaskHandle ) != eRunning )
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627 pcStatusMessage = "Error: Returned idle task state was incorrect";
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630 /* If this task is running, then the timer task must be blocked. */
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631 if( eTaskStateGet( xTimerTaskHandle ) != eBlocked )
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633 pcStatusMessage = "Error: Returned timer task state was incorrect";
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636 /* Also with the vTaskGetTaskInfo() function. */
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637 vTaskGetTaskInfo( xTimerTaskHandle, /* The task being queried. */
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638 &xTaskInfo, /* The structure into which information on the task will be written. */
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639 pdTRUE, /* Include the task's high watermark in the structure. */
\r
640 eInvalid ); /* Include the task state in the structure. */
\r
642 /* Check the information returned by vTaskGetTaskInfo() is as expected. */
\r
643 if( ( xTaskInfo.eCurrentState != eBlocked ) ||
\r
644 ( strcmp( xTaskInfo.pcTaskName, "Tmr Svc" ) != 0 ) ||
\r
645 ( xTaskInfo.uxCurrentPriority != configTIMER_TASK_PRIORITY ) ||
\r
646 ( xTaskInfo.pxStackBase != uxTimerTaskStack ) ||
\r
647 ( xTaskInfo.xHandle != xTimerTaskHandle ) )
\r
649 pcStatusMessage = "Error: vTaskGetTaskInfo() returned incorrect information about the timer task";
\r
652 /* Other tests that should only be performed once follow. The test task
\r
653 is not created on each iteration because to do so would cause the death
\r
654 task to report an error (too many tasks running). */
\r
655 if( xPerformedOneShotTests == pdFALSE )
\r
657 /* Don't run this part of the test again. */
\r
658 xPerformedOneShotTests = pdTRUE;
\r
660 /* Create a test task to use to test other eTaskStateGet() return values. */
\r
661 if( xTaskCreate( prvTestTask, "Test", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, &xTestTask ) == pdPASS )
\r
663 /* If this task is running, the test task must be in the ready state. */
\r
664 if( eTaskStateGet( xTestTask ) != eReady )
\r
666 pcStatusMessage = "Error: Returned test task state was incorrect 1";
\r
669 /* Now suspend the test task and check its state is reported correctly. */
\r
670 vTaskSuspend( xTestTask );
\r
671 if( eTaskStateGet( xTestTask ) != eSuspended )
\r
673 pcStatusMessage = "Error: Returned test task state was incorrect 2";
\r
676 /* Now delete the task and check its state is reported correctly. */
\r
677 vTaskDelete( xTestTask );
\r
678 if( eTaskStateGet( xTestTask ) != eDeleted )
\r
680 pcStatusMessage = "Error: Returned test task state was incorrect 3";
\r
685 /*-----------------------------------------------------------*/
\r
687 static void prvDemoQueueSpaceFunctions( void *pvParameters )
\r
689 QueueHandle_t xQueue = NULL;
\r
690 const unsigned portBASE_TYPE uxQueueLength = 10;
\r
691 unsigned portBASE_TYPE uxReturn, x;
\r
693 /* Remove compiler warnings. */
\r
694 ( void ) pvParameters;
\r
696 /* Create the queue that will be used. Nothing is actually going to be
\r
697 sent or received so the queue item size is set to 0. */
\r
698 xQueue = xQueueCreate( uxQueueLength, 0 );
\r
699 configASSERT( xQueue );
\r
703 for( x = 0; x < uxQueueLength; x++ )
\r
705 /* Ask how many messages are available... */
\r
706 uxReturn = uxQueueMessagesWaiting( xQueue );
\r
708 /* Check the number of messages being reported as being available
\r
709 is as expected, and force an assert if not. */
\r
710 if( uxReturn != x )
\r
712 /* xQueue cannot be NULL so this is deliberately causing an
\r
713 assert to be triggered as there is an error. */
\r
714 configASSERT( xQueue == NULL );
\r
717 /* Ask how many spaces remain in the queue... */
\r
718 uxReturn = uxQueueSpacesAvailable( xQueue );
\r
720 /* Check the number of spaces being reported as being available
\r
721 is as expected, and force an assert if not. */
\r
722 if( uxReturn != ( uxQueueLength - x ) )
\r
724 /* xQueue cannot be NULL so this is deliberately causing an
\r
725 assert to be triggered as there is an error. */
\r
726 configASSERT( xQueue == NULL );
\r
729 /* Fill one more space in the queue. */
\r
730 xQueueSendToBack( xQueue, NULL, 0 );
\r
733 /* Perform the same check while the queue is full. */
\r
734 uxReturn = uxQueueMessagesWaiting( xQueue );
\r
735 if( uxReturn != uxQueueLength )
\r
737 configASSERT( xQueue == NULL );
\r
740 uxReturn = uxQueueSpacesAvailable( xQueue );
\r
742 if( uxReturn != 0 )
\r
744 configASSERT( xQueue == NULL );
\r
747 /* The queue is full, start again. */
\r
748 xQueueReset( xQueue );
\r
750 #if( configUSE_PREEMPTION == 0 )
\r
755 /*-----------------------------------------------------------*/
\r
757 static void prvPermanentlyBlockingSemaphoreTask( void *pvParameters )
\r
759 SemaphoreHandle_t xSemaphore;
\r
761 /* Prevent compiler warning about unused parameter in the case that
\r
762 configASSERT() is not defined. */
\r
763 ( void ) pvParameters;
\r
765 /* This task should block on a semaphore, and never return. */
\r
766 xSemaphore = xSemaphoreCreateBinary();
\r
767 configASSERT( xSemaphore );
\r
769 xSemaphoreTake( xSemaphore, portMAX_DELAY );
\r
771 /* The above xSemaphoreTake() call should never return, force an assert if
\r
773 configASSERT( pvParameters != NULL );
\r
774 vTaskDelete( NULL );
\r
776 /*-----------------------------------------------------------*/
\r
778 static void prvPermanentlyBlockingNotificationTask( void *pvParameters )
\r
780 /* Prevent compiler warning about unused parameter in the case that
\r
781 configASSERT() is not defined. */
\r
782 ( void ) pvParameters;
\r
784 /* This task should block on a task notification, and never return. */
\r
785 ulTaskNotifyTake( pdTRUE, portMAX_DELAY );
\r
787 /* The above ulTaskNotifyTake() call should never return, force an assert
\r
789 configASSERT( pvParameters != NULL );
\r
790 vTaskDelete( NULL );
\r