2 FreeRTOS V7.4.2 - Copyright (C) 2013 Real Time Engineers Ltd.
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4 FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME. PLEASE VISIT
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5 http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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7 ***************************************************************************
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9 * FreeRTOS tutorial books are available in pdf and paperback. *
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10 * Complete, revised, and edited pdf reference manuals are also *
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13 * Purchasing FreeRTOS documentation will not only help you, by *
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14 * ensuring you get running as quickly as possible and with an *
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15 * in-depth knowledge of how to use FreeRTOS, it will also help *
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16 * the FreeRTOS project to continue with its mission of providing *
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17 * professional grade, cross platform, de facto standard solutions *
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18 * for microcontrollers - completely free of charge! *
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20 * >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
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22 * Thank you for using FreeRTOS, and thank you for your support! *
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24 ***************************************************************************
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27 This file is part of the FreeRTOS distribution.
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29 FreeRTOS is free software; you can redistribute it and/or modify it under
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30 the terms of the GNU General Public License (version 2) as published by the
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31 Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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33 >>>>>>NOTE<<<<<< The modification to the GPL is included to allow you to
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34 distribute a combined work that includes FreeRTOS without being obliged to
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35 provide the source code for proprietary components outside of the FreeRTOS
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38 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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39 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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40 FOR A PARTICULAR PURPOSE. See the GNU General Public License for more
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41 details. You should have received a copy of the GNU General Public License
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42 and the FreeRTOS license exception along with FreeRTOS; if not it can be
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43 viewed here: http://www.freertos.org/a00114.html and also obtained by
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44 writing to Real Time Engineers Ltd., contact details for whom are available
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45 on the FreeRTOS WEB site.
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49 ***************************************************************************
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51 * Having a problem? Start by reading the FAQ "My application does *
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52 * not run, what could be wrong?" *
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54 * http://www.FreeRTOS.org/FAQHelp.html *
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56 ***************************************************************************
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59 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
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60 license and Real Time Engineers Ltd. contact details.
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62 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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63 including FreeRTOS+Trace - an indispensable productivity tool, and our new
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64 fully thread aware and reentrant UDP/IP stack.
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66 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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67 Integrity Systems, who sell the code with commercial support,
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68 indemnification and middleware, under the OpenRTOS brand.
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70 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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71 engineered and independently SIL3 certified version for use in safety and
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72 mission critical applications that require provable dependability.
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76 NOTE : Tasks run in system mode and the scheduler runs in Supervisor mode.
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77 The processor MUST be in supervisor mode when vTaskStartScheduler is
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78 called. The demo applications included in the FreeRTOS.org download switch
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79 to supervisor mode prior to main being called. If you are not using one of
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80 these demo application projects then ensure Supervisor mode is used.
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85 * Creates all the demo application tasks, then starts the scheduler. The WEB
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86 * documentation provides more details of the demo application tasks.
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88 * Main.c also creates a task called "Check". This only executes every three
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89 * seconds but has the highest priority so is guaranteed to get processor time.
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90 * Its main function is to check that all the other tasks are still operational.
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91 * Each task (other than the "flash" tasks) maintains a unique count that is
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92 * incremented each time the task successfully completes its function. Should
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93 * any error occur within such a task the count is permanently halted. The
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94 * check task inspects the count of each task to ensure it has changed since
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95 * the last time the check task executed. If all the count variables have
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96 * changed all the tasks are still executing error free, and the check task
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97 * toggles the onboard LED. Should any task contain an error at any time
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98 * the LED toggle rate will change from 3 seconds to 500ms.
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100 * To check the operation of the memory allocator the check task also
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101 * dynamically creates a task before delaying, and deletes it again when it
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102 * wakes. If memory cannot be allocated for the new task the call to xTaskCreate
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103 * will fail and an error is signalled. The dynamically created task itself
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104 * allocates and frees memory just to give the allocator a bit more exercise.
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108 /* Standard includes. */
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109 #include <stdlib.h>
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110 #include <string.h>
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112 /* Scheduler includes. */
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113 #include "FreeRTOS.h"
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116 /* Demo application includes. */
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117 #include "partest.h"
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119 #include "integer.h"
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121 #include "comtest2.h"
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122 #include "semtest.h"
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124 #include "dynamic.h"
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125 #include "BlockQ.h"
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126 #include "serial.h"
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128 /* Hardware specific definitions. */
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132 /*-----------------------------------------------------------*/
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134 /* Constants for the ComTest tasks. */
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135 #define mainCOM_TEST_BAUD_RATE ( ( unsigned long ) 115200 )
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136 #define mainCOM_TEST_LED ( 5 )
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138 /* Priorities for the demo application tasks. */
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139 #define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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140 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
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141 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
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142 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 4 )
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143 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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144 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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146 /* The rate at which the on board LED will toggle when there is/is not an
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148 #define mainNO_ERROR_FLASH_PERIOD ( ( portTickType ) 3000 / portTICK_RATE_MS )
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149 #define mainERROR_FLASH_PERIOD ( ( portTickType ) 500 / portTICK_RATE_MS )
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150 #define mainON_BOARD_LED_BIT ( ( unsigned long ) 7 )
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152 /* Constants used by the vMemCheckTask() task. */
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153 #define mainCOUNT_INITIAL_VALUE ( ( unsigned long ) 0 )
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154 #define mainNO_TASK ( 0 )
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156 /* The size of the memory blocks allocated by the vMemCheckTask() task. */
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157 #define mainMEM_CHECK_SIZE_1 ( ( size_t ) 51 )
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158 #define mainMEM_CHECK_SIZE_2 ( ( size_t ) 52 )
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159 #define mainMEM_CHECK_SIZE_3 ( ( size_t ) 151 )
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161 #define MAX_WAIT_STATES 8
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162 static const unsigned long ululCSRWaitValues[ MAX_WAIT_STATES + 1 ] =
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164 WaitState1,/* There is no "zero wait state" value, so use one wait state */
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174 /*-----------------------------------------------------------*/
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177 * Checks that all the demo application tasks are still executing without error
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178 * - as described at the top of the file.
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180 static long prvCheckOtherTasksAreStillRunning( unsigned long ulMemCheckTaskCount );
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183 * The task that executes at the highest priority and calls
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184 * prvCheckOtherTasksAreStillRunning(). See the description at the top
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187 static void vErrorChecks( void *pvParameters );
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190 * Dynamically created and deleted during each cycle of the vErrorChecks()
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191 * task. This is done to check the operation of the memory allocator.
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192 * See the top of vErrorChecks for more details.
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194 static void vMemCheckTask( void *pvParameters );
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197 * Configure the processor for use with the Olimex demo board. This includes
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198 * setup for the I/O, system clock, and access timings.
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200 static void prvSetupHardware( void );
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202 /*-----------------------------------------------------------*/
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205 * Starts all the other tasks, then starts the scheduler.
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209 /* Setup the hardware for use with the Olimex demo board. */
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210 prvSetupHardware();
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212 /* Start the demo/test application tasks. */
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213 vStartIntegerMathTasks( tskIDLE_PRIORITY );
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214 vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
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215 vStartLEDFlashTasks( mainLED_TASK_PRIORITY );
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216 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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217 vStartMathTasks( tskIDLE_PRIORITY );
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218 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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219 vStartDynamicPriorityTasks();
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220 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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222 /* Start the check task - which is defined in this file. */
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223 xTaskCreate( vErrorChecks, ( signed char * ) "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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225 /* Now all the tasks have been started - start the scheduler.
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227 NOTE : Tasks run in system mode and the scheduler runs in Supervisor mode.
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228 The processor MUST be in supervisor mode when vTaskStartScheduler is
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229 called. The demo applications included in the FreeRTOS.org download switch
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230 to supervisor mode prior to main being called. If you are not using one of
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231 these demo application projects then ensure Supervisor mode is used here. */
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232 vTaskStartScheduler();
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234 /* Should never reach here! */
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237 /*-----------------------------------------------------------*/
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239 static void vErrorChecks( void *pvParameters )
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241 portTickType xDelayPeriod = mainNO_ERROR_FLASH_PERIOD;
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242 unsigned long ulMemCheckTaskRunningCount;
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243 xTaskHandle xCreatedTask;
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245 /* Just to stop compiler warnings. */
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246 ( void ) pvParameters;
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248 /* Cycle for ever, delaying then checking all the other tasks are still
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249 operating without error. If an error is detected then the delay period
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250 is decreased from mainNO_ERROR_FLASH_PERIOD to mainERROR_FLASH_PERIOD so
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251 the on board LED flash rate will increase.
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253 In addition to the standard tests the memory allocator is tested through
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254 the dynamic creation and deletion of a task each cycle. Each time the
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255 task is created memory must be allocated for its stack. When the task is
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256 deleted this memory is returned to the heap. If the task cannot be created
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257 then it is likely that the memory allocation failed. */
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261 /* Reset xCreatedTask. This is modified by the task about to be
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262 created so we can tell if it is executing correctly or not. */
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263 xCreatedTask = mainNO_TASK;
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265 /* Dynamically create a task - passing ulMemCheckTaskRunningCount as a
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267 ulMemCheckTaskRunningCount = mainCOUNT_INITIAL_VALUE;
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268 if( xTaskCreate( vMemCheckTask, ( signed char * ) "MEM_CHECK", configMINIMAL_STACK_SIZE, ( void * ) &ulMemCheckTaskRunningCount, tskIDLE_PRIORITY, &xCreatedTask ) != pdPASS )
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270 /* Could not create the task - we have probably run out of heap. */
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271 xDelayPeriod = mainERROR_FLASH_PERIOD;
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274 /* Delay until it is time to execute again. */
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275 vTaskDelay( xDelayPeriod );
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277 /* Delete the dynamically created task. */
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278 if( xCreatedTask != mainNO_TASK )
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280 vTaskDelete( xCreatedTask );
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283 /* Check all the standard demo application tasks are executing without
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284 error. ulMemCheckTaskRunningCount is checked to ensure it was
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285 modified by the task just deleted. */
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286 if( prvCheckOtherTasksAreStillRunning( ulMemCheckTaskRunningCount ) != pdPASS )
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288 /* An error has been detected in one of the tasks - flash faster. */
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289 xDelayPeriod = mainERROR_FLASH_PERIOD;
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292 /* The toggle rate of the LED depends on how long this task delays for.
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293 An error reduces the delay period and so increases the toggle rate. */
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294 vParTestToggleLED( mainON_BOARD_LED_BIT );
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297 /*-----------------------------------------------------------*/
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299 static void prvSetupHardware( void )
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303 #ifdef RUN_FROM_ROM
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305 portFLOAT nsecsPerClockTick;
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306 long lNumWaitStates;
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307 unsigned long ulCSRWaitValue;
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309 /* We are compiling to run from ROM (either on-chip or off-chip flash).
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310 Leave the RAM/flash mapped the way they are on reset
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311 (flash @ 0x00000000, RAM @ 0x00300000), and set up the
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312 proper flash wait states (starts out at the maximum number
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313 of wait states on reset, so we should be able to reduce it).
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314 Most of this code will probably get removed by the compiler
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315 if optimization is enabled, since these calculations are
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316 based on constants. But the compiler should still produce
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317 a correct wait state register value. */
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318 nsecsPerClockTick = ( portFLOAT ) 1000000000 / configCPU_CLOCK_HZ;
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319 lNumWaitStates = ( long )( ( configFLASH_SPEED_NSEC / nsecsPerClockTick ) + 0.5 ) - 1;
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321 if( lNumWaitStates < 0 )
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323 lNumWaitStates = 0;
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326 if( lNumWaitStates > MAX_WAIT_STATES )
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328 lNumWaitStates = MAX_WAIT_STATES;
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331 ulCSRWaitValue = ululCSRWaitValues[ lNumWaitStates ];
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332 ulCSRWaitValue = WaitState5;
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334 AT91C_BASE_EBI->EBI_CSR[ 0 ] = ulCSRWaitValue | DataBus16 | WaitStateEnable
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335 | PageSize1M | tDF_0cycle
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336 | ByteWriteAccessType | CSEnable
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337 | 0x00000000 /* Base Address */;
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339 #else /* else we are compiling to run from on-chip RAM */
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341 /* If compiling to run from RAM, we expect the on-chip RAM to already
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342 be mapped at 0x00000000. This is typically done with an initialization
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343 script for the JTAG emulator you are using to download and run the
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344 demo application. So there is nothing to do here in this case. */
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348 /* Disable all interrupts at the AIC level initially... */
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349 AT91C_BASE_AIC->AIC_IDCR = 0xFFFFFFFF;
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351 /* Set all SVR and SMR entries to default values (start with a clean slate)... */
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352 for( lCount = 0; lCount < 32; lCount++ )
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354 AT91C_BASE_AIC->AIC_SVR[ lCount ] = (unsigned long) 0;
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355 AT91C_BASE_AIC->AIC_SMR[ lCount ] = AIC_SRCTYPE_INT_EDGE_TRIGGERED;
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358 /* Disable clocks to all peripherals initially... */
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359 AT91C_BASE_PS->PS_PCDR = 0xFFFFFFFF;
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361 /* Clear all interrupts at the AIC level initially... */
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362 AT91C_BASE_AIC->AIC_ICCR = 0xFFFFFFFF;
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364 /* Perform 8 "End Of Interrupt" cmds to make sure AIC will not Lock out
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366 for( lCount = 0; lCount < 8; lCount++ )
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368 AT91C_BASE_AIC->AIC_EOICR = 0;
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371 /* Initialise LED outputs. */
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372 vParTestInitialise();
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374 /*-----------------------------------------------------------*/
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376 static long prvCheckOtherTasksAreStillRunning( unsigned long ulMemCheckTaskCount )
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378 long lReturn = ( long ) pdPASS;
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380 /* Check all the demo tasks (other than the flash tasks) to ensure
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381 that they are all still running, and that none of them have detected
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384 if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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386 lReturn = ( long ) pdFAIL;
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389 if( xAreComTestTasksStillRunning() != pdTRUE )
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391 lReturn = ( long ) pdFAIL;
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394 if( xArePollingQueuesStillRunning() != pdTRUE )
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396 lReturn = ( long ) pdFAIL;
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399 if( xAreMathsTaskStillRunning() != pdTRUE )
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401 lReturn = ( long ) pdFAIL;
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404 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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406 lReturn = ( long ) pdFAIL;
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409 if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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411 lReturn = ( long ) pdFAIL;
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414 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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416 lReturn = ( long ) pdFAIL;
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419 if( ulMemCheckTaskCount == mainCOUNT_INITIAL_VALUE )
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421 /* The vMemCheckTask did not increment the counter - it must
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423 lReturn = ( long ) pdFAIL;
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428 /*-----------------------------------------------------------*/
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430 static void vMemCheckTask( void *pvParameters )
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432 unsigned long *pulMemCheckTaskRunningCounter;
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433 void *pvMem1, *pvMem2, *pvMem3;
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434 static long lErrorOccurred = pdFALSE;
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436 /* This task is dynamically created then deleted during each cycle of the
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437 vErrorChecks task to check the operation of the memory allocator. Each time
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438 the task is created memory is allocated for the stack and TCB. Each time
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439 the task is deleted this memory is returned to the heap. This task itself
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440 exercises the allocator by allocating and freeing blocks.
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442 The task executes at the idle priority so does not require a delay.
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444 pulMemCheckTaskRunningCounter is incremented each cycle to indicate to the
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445 vErrorChecks() task that this task is still executing without error. */
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447 pulMemCheckTaskRunningCounter = ( unsigned long * ) pvParameters;
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451 if( lErrorOccurred == pdFALSE )
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453 /* We have never seen an error so increment the counter. */
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454 ( *pulMemCheckTaskRunningCounter )++;
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458 /* There has been an error so reset the counter so the check task
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459 can tell that an error occurred. */
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460 *pulMemCheckTaskRunningCounter = mainCOUNT_INITIAL_VALUE;
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463 /* Allocate some memory - just to give the allocator some extra
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464 exercise. This has to be in a critical section to ensure the
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465 task does not get deleted while it has memory allocated. */
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468 pvMem1 = pvPortMalloc( mainMEM_CHECK_SIZE_1 );
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469 if( pvMem1 == NULL )
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471 lErrorOccurred = pdTRUE;
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475 memset( pvMem1, 0xaa, mainMEM_CHECK_SIZE_1 );
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476 vPortFree( pvMem1 );
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481 /* Again - with a different size block. */
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484 pvMem2 = pvPortMalloc( mainMEM_CHECK_SIZE_2 );
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485 if( pvMem2 == NULL )
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487 lErrorOccurred = pdTRUE;
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491 memset( pvMem2, 0xaa, mainMEM_CHECK_SIZE_2 );
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492 vPortFree( pvMem2 );
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497 /* Again - with a different size block. */
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500 pvMem3 = pvPortMalloc( mainMEM_CHECK_SIZE_3 );
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501 if( pvMem3 == NULL )
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503 lErrorOccurred = pdTRUE;
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507 memset( pvMem3, 0xaa, mainMEM_CHECK_SIZE_3 );
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508 vPortFree( pvMem3 );
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