2 FreeRTOS.org V5.3.1 - Copyright (C) 2003-2009 Richard Barry.
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4 This file is part of the FreeRTOS.org distribution.
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6 FreeRTOS.org is free software; you can redistribute it and/or modify it
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7 under the terms of the GNU General Public License (version 2) as published
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8 by the Free Software Foundation and modified by the FreeRTOS exception.
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9 **NOTE** The exception to the GPL is included to allow you to distribute a
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10 combined work that includes FreeRTOS.org without being obliged to provide
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11 the source code for any proprietary components. Alternative commercial
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12 license and support terms are also available upon request. See the
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13 licensing section of http://www.FreeRTOS.org for full details.
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15 FreeRTOS.org is distributed in the hope that it will be useful, but WITHOUT
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16 ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
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17 FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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20 You should have received a copy of the GNU General Public License along
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21 with FreeRTOS.org; if not, write to the Free Software Foundation, Inc., 59
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22 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
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25 ***************************************************************************
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27 * Get the FreeRTOS eBook! See http://www.FreeRTOS.org/Documentation *
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29 * This is a concise, step by step, 'hands on' guide that describes both *
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30 * general multitasking concepts and FreeRTOS specifics. It presents and *
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31 * explains numerous examples that are written using the FreeRTOS API. *
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32 * Full source code for all the examples is provided in an accompanying *
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35 ***************************************************************************
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39 Please ensure to read the configuration and relevant port sections of the
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40 online documentation.
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42 http://www.FreeRTOS.org - Documentation, latest information, license and
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45 http://www.SafeRTOS.com - A version that is certified for use in safety
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48 http://www.OpenRTOS.com - Commercial support, development, porting,
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49 licensing and training services.
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54 * Creates all the demo application tasks, then starts the scheduler. The WEB
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55 * documentation provides more details of the demo application tasks.
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57 * In addition to the standard demo tasks, the follow demo specific tasks are
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60 * The "Check" task. This only executes every three seconds but has the highest
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61 * priority so is guaranteed to get processor time. Its main function is to
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62 * check that all the other tasks are still operational. Most tasks maintain
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63 * a unique count that is incremented each time the task successfully completes
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64 * its function. Should any error occur within such a task the count is
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65 * permanently halted. The check task inspects the count of each task to ensure
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66 * it has changed since the last time the check task executed. If all the count
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67 * variables have changed all the tasks are still executing error free, and the
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68 * check task toggles the onboard LED. Should any task contain an error at any time
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69 * the LED toggle rate will change from 3 seconds to 500ms.
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71 * The "Register Check" tasks. These tasks fill the CPU registers with known
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72 * values, then check that each register still contains the expected value 0 the
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73 * discovery of an unexpected value being indicative of an error in the RTOS
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74 * context switch mechanism. The register check tasks operate at low priority
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75 * so are switched in and out frequently.
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77 * The "Trace Utility" task. This can be used to obtain trace and debug
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78 * information via UART5.
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82 /* Hardware specific includes. */
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83 #include "mb91467d.h"
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84 #include "vectors.h"
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85 #include "watchdog.h"
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87 /* Scheduler includes. */
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88 #include "FreeRTOS.h"
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91 /* Demo app includes. */
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93 #include "integer.h"
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94 #include "comtest2.h"
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95 #include "semtest.h"
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97 #include "dynamic.h"
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99 #include "GenQTest.h"
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101 #include "blocktim.h"
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103 #include "taskutility.h"
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104 #include "partest.h"
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105 #include "crflash.h"
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107 /* Demo task priorities. */
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108 #define mainWATCHDOG_TASK_PRIORITY ( tskIDLE_PRIORITY + 5 )
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109 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 4 )
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110 #define mainUTILITY_TASK_PRIORITY ( tskIDLE_PRIORITY )
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111 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 3 )
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112 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
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113 #define mainQUEUE_BLOCK_PRIORITY ( tskIDLE_PRIORITY + 2 )
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114 #define mainDEATH_PRIORITY ( tskIDLE_PRIORITY + 1 )
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115 #define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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116 #define mainGENERIC_QUEUE_PRIORITY ( tskIDLE_PRIORITY )
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118 /* Baud rate used by the COM test tasks. */
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119 #define mainCOM_TEST_BAUD_RATE ( ( unsigned portLONG ) 19200 )
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121 /* The frequency at which the 'Check' tasks executes. See the comments at the
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122 top of the page. When the system is operating error free the 'Check' task
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123 toggles an LED every three seconds. If an error is discovered in any task the
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124 rate is increased to 500 milliseconds. [in this case the '*' characters on the
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125 LCD represent LEDs]*/
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126 #define mainNO_ERROR_CHECK_DELAY ( ( portTickType ) 3000 / portTICK_RATE_MS )
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127 #define mainERROR_CHECK_DELAY ( ( portTickType ) 500 / portTICK_RATE_MS )
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129 /* The total number of LEDs available. */
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130 #define mainNO_CO_ROUTINE_LEDs ( 8 )
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132 /* The first LED used by the comtest tasks. */
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133 #define mainCOM_TEST_LED ( 0x05 )
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135 /* The LED used by the check task. */
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136 #define mainCHECK_TEST_LED ( 0x07 )
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138 /* The number of interrupt levels to use. */
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139 #define mainINTERRUPT_LEVELS ( 31 )
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141 /* The number of 'flash' co-routines to create - each toggles a different LED. */
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142 #define mainNUM_FLASH_CO_ROUTINES ( 8 )
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144 /*---------------------------------------------------------------------------*/
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147 * The function that implements the Check task. See the comments at the head
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148 * of the page for implementation details.
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150 static void prvErrorChecks( void *pvParameters );
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153 * Called by the Check task. Returns pdPASS if all the other tasks are found
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154 * to be operating without error - otherwise returns pdFAIL.
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156 static portSHORT prvCheckOtherTasksAreStillRunning( void );
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159 * Setup the microcontroller as used by this demo.
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161 static void prvSetupHardware( void );
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164 * Tasks that test the context switch mechanism by filling the CPU registers
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165 * with known values then checking that each register contains the value
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166 * expected. Each of the two tasks use different values, and as low priority
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167 * tasks, get swapped in and out regularly.
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169 static void vFirstRegisterTestTask( void *pvParameters );
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170 static void vSecondRegisterTestTask( void *pvParameters );
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172 /*---------------------------------------------------------------------------*/
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174 /* The variable that is set to true should an error be found in one of the
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175 register test tasks. */
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176 unsigned portLONG ulRegTestError = pdFALSE;
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178 /*---------------------------------------------------------------------------*/
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180 /* Start all the demo application tasks, then start the scheduler. */
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183 /* Initialise the hardware ready for the demo. */
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184 prvSetupHardware();
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186 /* Start the standard demo application tasks. */
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187 vStartLEDFlashTasks( mainLED_TASK_PRIORITY );
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188 vStartIntegerMathTasks( tskIDLE_PRIORITY );
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189 vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED - 1 );
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190 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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191 vStartBlockingQueueTasks ( mainQUEUE_BLOCK_PRIORITY );
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192 vStartDynamicPriorityTasks();
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193 vStartMathTasks( tskIDLE_PRIORITY );
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194 vStartGenericQueueTasks( mainGENERIC_QUEUE_PRIORITY );
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195 vStartQueuePeekTasks();
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196 vCreateBlockTimeTasks();
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197 vStartFlashCoRoutines( mainNUM_FLASH_CO_ROUTINES );
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199 /* Start the 'Check' task which is defined in this file. */
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200 xTaskCreate( prvErrorChecks, ( signed portCHAR * ) "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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202 /* Start the 'Register Test' tasks as described at the top of this file. */
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203 xTaskCreate( vFirstRegisterTestTask, ( signed portCHAR * ) "Reg1", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
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204 xTaskCreate( vSecondRegisterTestTask, ( signed portCHAR * ) "Reg2", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
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206 /* Start the task that write trace information to the UART. */
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207 vUtilityStartTraceTask( mainUTILITY_TASK_PRIORITY );
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209 /* If we are going to service the watchdog from within a task, then create
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211 #if WATCHDOG == WTC_IN_TASK
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212 vStartWatchdogTask( mainWATCHDOG_TASK_PRIORITY );
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215 /* The suicide tasks must be started last as they record the number of other
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216 tasks that exist within the system. The value is then used to ensure at run
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217 time the number of tasks that exists is within expected bounds. */
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218 vCreateSuicidalTasks( mainDEATH_PRIORITY );
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220 /* Now start the scheduler. Following this call the created tasks should
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222 vTaskStartScheduler( );
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224 /* vTaskStartScheduler() will only return if an error occurs while the
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225 idle task is being created. */
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228 /*-----------------------------------------------------------*/
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230 static void prvErrorChecks( void *pvParameters )
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232 portTickType xDelayPeriod = mainNO_ERROR_CHECK_DELAY, xLastExecutionTime;
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234 /* Initialise xLastExecutionTime so the first call to vTaskDelayUntil()
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235 works correctly. */
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236 xLastExecutionTime = xTaskGetTickCount();
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238 /* Cycle for ever, delaying then checking all the other tasks are still
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239 operating without error. */
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242 /* Wait until it is time to check again. The time we wait here depends
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243 on whether an error has been detected or not. When an error is
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244 detected the time is shortened resulting in a faster LED flash rate. */
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245 /* Perform this check every mainCHECK_DELAY milliseconds. */
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246 vTaskDelayUntil( &xLastExecutionTime, xDelayPeriod );
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248 /* See if the other tasks are all ok. */
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249 if( prvCheckOtherTasksAreStillRunning() != pdPASS )
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251 /* An error occurred in one of the tasks so shorten the delay
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252 period - which has the effect of increasing the frequency of the
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254 xDelayPeriod = mainERROR_CHECK_DELAY;
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258 vParTestToggleLED( mainCHECK_TEST_LED );
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261 /*-----------------------------------------------------------*/
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263 static portSHORT prvCheckOtherTasksAreStillRunning( void )
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265 portBASE_TYPE lReturn = pdPASS;
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267 /* The demo tasks maintain a count that increments every cycle of the task
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268 provided that the task has never encountered an error. This function
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269 checks the counts maintained by the tasks to ensure they are still being
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270 incremented. A count remaining at the same value between calls therefore
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271 indicates that an error has been detected. */
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273 if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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278 if( xAreComTestTasksStillRunning() != pdTRUE )
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283 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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288 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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293 if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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298 if( xAreMathsTaskStillRunning() != pdTRUE )
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303 if( xIsCreateTaskStillRunning() != pdTRUE )
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308 if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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313 if ( xAreGenericQueueTasksStillRunning() != pdTRUE )
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318 if ( xAreQueuePeekTasksStillRunning() != pdTRUE )
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323 /* Have the register test tasks found any errors? */
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324 if( ulRegTestError != pdFALSE )
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331 /*-----------------------------------------------------------*/
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333 static void prvSetupHardware( void )
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335 /* Allow all interrupt levels. */
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336 __set_il( mainINTERRUPT_LEVELS );
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338 /* Initialise interrupts. */
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341 /* Initialise the ports used by the LEDs. */
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342 vParTestInitialise();
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344 /* If we are going to use the watchdog, then initialise it now. */
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345 #if WATCHDOG != WTC_NONE
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349 /*-----------------------------------------------------------*/
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351 /* Idle hook function. */
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352 #if configUSE_IDLE_HOOK == 1
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353 void vApplicationIdleHook( void )
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355 /* Are we using the idle task to kick the watchdog? See watchdog.h
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356 for watchdog kicking options. Note this is for demonstration only
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357 and is not a suggested method of servicing the watchdog in a real
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359 #if WATCHDOG == WTC_IN_IDLE
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363 vCoRoutineSchedule();
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366 #if WATCHDOG == WTC_IN_IDLE
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367 #error configUSE_IDLE_HOOK must be set to 1 in FreeRTOSConfig.h if the watchdog is being cleared in the idle task hook.
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371 /*-----------------------------------------------------------*/
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373 /* Tick hook function. */
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374 #if configUSE_TICK_HOOK == 1
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375 void vApplicationTickHook( void )
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377 /* Are we using the tick to kick the watchdog? See watchdog.h
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378 for watchdog kicking options. Note this is for demonstration
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379 only and is not a suggested method of servicing the watchdog in
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380 a real application. */
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381 #if WATCHDOG == WTC_IN_TICK
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386 #if WATCHDOG == WTC_IN_TICK
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387 #error configUSE_TICK_HOOK must be set to 1 in FreeRTOSConfig.h if the watchdog is being cleared in the tick hook.
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390 /*-----------------------------------------------------------*/
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392 static void vFirstRegisterTestTask( void *pvParameters )
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394 extern volatile unsigned portLONG ulCriticalNesting;
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396 /* Fills the registers with known values (different to the values
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397 used in vSecondRegisterTestTask()), then checks that the registers still
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398 all contain the expected value. This is done to test the context save
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399 and restore mechanism as this task is swapped onto and off of the CPU. */
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404 ;Load known values into each register.
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405 LDI #0x11111111, R0
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406 LDI #0x22222222, R1
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407 LDI #0x33333333, R2
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408 LDI #0x44444444, R3
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409 LDI #0x55555555, R4
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410 LDI #0x66666666, R5
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411 LDI #0x77777777, R6
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412 LDI #0x88888888, R7
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413 LDI #0x99999999, R8
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414 LDI #0xaaaaaaaa, R9
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415 LDI #0xbbbbbbbb, R10
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416 LDI #0xcccccccc, R11
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417 LDI #0xdddddddd, R12
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419 ;Check each register still contains the expected value.
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420 LDI #0x11111111, R13
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422 BNE First_Set_Error
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424 LDI #0x22222222, R13
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426 BNE First_Set_Error
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428 LDI #0x33333333, R13
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430 BNE First_Set_Error
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432 LDI #0x44444444, R13
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434 BNE First_Set_Error
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436 LDI #0x55555555, R13
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438 BNE First_Set_Error
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440 LDI #0x66666666, R13
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442 BNE First_Set_Error
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444 LDI #0x77777777, R13
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446 BNE First_Set_Error
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448 LDI #0x88888888, R13
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450 BNE First_Set_Error
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452 LDI #0x99999999, R13
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454 BNE First_Set_Error
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456 LDI #0xaaaaaaaa, R13
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458 BNE First_Set_Error
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460 LDI #0xbbbbbbbb, R13
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462 BNE First_Set_Error
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464 LDI #0xcccccccc, R13
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466 BNE First_Set_Error
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468 LDI #0xdddddddd, R13
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470 BNE First_Set_Error
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472 BRA First_Start_Next_Loop
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476 ; Latch that an error has occurred.
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477 LDI #_ulRegTestError, R0
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478 LDI #0x00000001, R1
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482 First_Start_Next_Loop:
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488 /*-----------------------------------------------------------*/
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490 static void vSecondRegisterTestTask( void *pvParameters )
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492 extern volatile unsigned portLONG ulCriticalNesting;
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494 /* Fills the registers with known values (different to the values
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495 used in vFirstRegisterTestTask()), then checks that the registers still
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496 all contain the expected value. This is done to test the context save
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497 and restore mechanism as this task is swapped onto and off of the CPU. */
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502 ;Load known values into each register.
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503 LDI #0x11111111, R1
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504 LDI #0x22222222, R2
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506 LDI #0x33333333, R3
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507 LDI #0x44444444, R4
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508 LDI #0x55555555, R5
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509 LDI #0x66666666, R6
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510 LDI #0x77777777, R7
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511 LDI #0x88888888, R8
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512 LDI #0x99999999, R9
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514 LDI #0xaaaaaaaa, R10
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515 LDI #0xbbbbbbbb, R11
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516 LDI #0xcccccccc, R12
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517 LDI #0xdddddddd, R0
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519 ;Check each register still contains the expected value.
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520 LDI #0x11111111, R13
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522 BNE Second_Set_Error
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524 LDI #0x22222222, R13
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526 BNE Second_Set_Error
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528 LDI #0x33333333, R13
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530 BNE Second_Set_Error
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532 LDI #0x44444444, R13
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534 BNE Second_Set_Error
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536 LDI #0x55555555, R13
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538 BNE Second_Set_Error
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542 LDI #0x66666666, R13
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544 BNE Second_Set_Error
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546 LDI #0x77777777, R13
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548 BNE Second_Set_Error
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550 LDI #0x88888888, R13
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552 BNE Second_Set_Error
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554 LDI #0x99999999, R13
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556 BNE Second_Set_Error
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560 LDI #0xaaaaaaaa, R13
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562 BNE Second_Set_Error
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564 LDI #0xbbbbbbbb, R13
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566 BNE Second_Set_Error
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568 LDI #0xcccccccc, R13
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570 BNE Second_Set_Error
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572 LDI #0xdddddddd, R13
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574 BNE Second_Set_Error
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576 BRA Second_Start_Next_Loop
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580 ; Latch that an error has occurred.
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581 LDI #_ulRegTestError, R0
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582 LDI #0x00000001, R1
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586 Second_Start_Next_Loop:
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592 /*-----------------------------------------------------------*/
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