1 /*This file has been prepared for Doxygen automatic documentation generation.*/
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2 /*! \file *********************************************************************
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4 * \brief FreeRTOS Real Time Kernel example.
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6 * Creates all the demo application tasks, then starts the scheduler. The WEB
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7 * documentation provides more details of the demo application tasks.
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9 * Main. c also creates a task called "Check". This only executes every three
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10 * seconds but has the highest priority so is guaranteed to get processor time.
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11 * Its main function is to check that all the other tasks are still operational.
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12 * Each task that does not flash an LED maintains a unique count that is
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13 * incremented each time the task successfully completes its function. Should
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14 * any error occur within such a task the count is permanently halted. The
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15 * check task inspects the count of each task to ensure it has changed since
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16 * the last time the check task executed. If all the count variables have
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17 * changed all the tasks are still executing error free, and the check task
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18 * toggles an LED. Should any task contain an error at any time the LED toggle
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21 * The LED flash and communications test tasks do not maintain a count.
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23 * - Compiler: IAR EWAVR32 and GNU GCC for AVR32
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24 * - Supported devices: All AVR32 devices with GPIO.
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27 * \author Atmel Corporation: http://www.atmel.com \n
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28 * Support and FAQ: http://support.atmel.no/
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30 *****************************************************************************/
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33 * FreeRTOS Kernel V10.3.0
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34 * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
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36 * Permission is hereby granted, free of charge, to any person obtaining a copy of
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37 * this software and associated documentation files (the "Software"), to deal in
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38 * the Software without restriction, including without limitation the rights to
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39 * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
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40 * the Software, and to permit persons to whom the Software is furnished to do so,
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41 * subject to the following conditions:
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43 * The above copyright notice and this permission notice shall be included in all
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44 * copies or substantial portions of the Software.
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46 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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47 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
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48 * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
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49 * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
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50 * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
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51 * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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53 * http://www.FreeRTOS.org
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54 * http://aws.amazon.com/freertos
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56 * 1 tab == 4 spaces!
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64 /* Environment header files. */
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67 /* Scheduler header files. */
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68 #include "FreeRTOS.h"
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71 /* Demo file headers. */
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72 #include "partest.h"
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74 #include "integer.h"
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75 #include "comtest.h"
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78 #include "semtest.h"
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79 #include "dynamic.h"
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84 /*! \name Priority definitions for most of the tasks in the demo application.
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85 * Some tasks just use the idle priority.
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88 #define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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89 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
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90 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
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91 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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92 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 3 )
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93 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 4 )
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94 #define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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97 //! Baud rate used by the serial port tasks.
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98 #define mainCOM_TEST_BAUD_RATE ( ( unsigned long ) 57600 )
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100 //! LED used by the serial port tasks. This is toggled on each character Tx,
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101 //! and mainCOM_TEST_LED + 1 is toggled on each character Rx.
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102 #define mainCOM_TEST_LED ( 3 )
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104 //! LED that is toggled by the check task. The check task periodically checks
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105 //! that all the other tasks are operating without error. If no errors are found
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106 //! the LED is toggled. If an error is found at any time the LED toggles faster.
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107 #define mainCHECK_TASK_LED ( 6 )
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109 //! LED that is set upon error.
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110 #define mainERROR_LED ( 7 )
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112 //! The period between executions of the check task.
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113 #define mainCHECK_PERIOD ( ( TickType_t ) 3000 / portTICK_PERIOD_MS )
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115 //! If an error is detected in a task, the vErrorChecks task will enter in an
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116 //! infinite loop flashing the LED at this rate.
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117 #define mainERROR_FLASH_RATE ( (TickType_t) 500 / portTICK_PERIOD_MS )
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119 /*! \name Constants used by the vMemCheckTask() task.
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122 #define mainCOUNT_INITIAL_VALUE ( ( unsigned long ) 0 )
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123 #define mainNO_TASK ( 0 )
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126 /*! \name The size of the memory blocks allocated by the vMemCheckTask() task.
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129 #define mainMEM_CHECK_SIZE_1 ( ( size_t ) 51 )
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130 #define mainMEM_CHECK_SIZE_2 ( ( size_t ) 52 )
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131 #define mainMEM_CHECK_SIZE_3 ( ( size_t ) 15 )
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135 /*-----------------------------------------------------------*/
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138 * The task that executes at the highest priority and calls
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139 * prvCheckOtherTasksAreStillRunning(). See the description at the top
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142 static void vErrorChecks( void *pvParameters );
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145 * Checks that all the demo application tasks are still executing without error
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146 * - as described at the top of the file.
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148 static portBASE_TYPE prvCheckOtherTasksAreStillRunning( void );
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151 * A task that exercises the memory allocator.
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153 static void vMemCheckTask( void *pvParameters );
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156 * Called by the check task following the detection of an error to set the
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157 * LEDs into a state that shows an error has beeen found.
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159 static void prvIndicateError( void );
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161 /*-----------------------------------------------------------*/
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165 /* Start the crystal oscillator 0 and switch the main clock to it. */
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166 pm_switch_to_osc0(&AVR32_PM, FOSC0, OSC0_STARTUP);
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168 portDBG_TRACE("Starting the FreeRTOS AVR32 UC3 Demo...");
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170 /* Setup the LED's for output. */
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171 vParTestInitialise();
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173 /* Start the standard demo tasks. See the WEB documentation for more
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175 vStartLEDFlashTasks( mainLED_TASK_PRIORITY );
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176 vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
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177 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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178 vStartIntegerMathTasks( tskIDLE_PRIORITY );
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179 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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180 vStartDynamicPriorityTasks();
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181 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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182 vStartMathTasks( tskIDLE_PRIORITY );
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184 /* Start the demo tasks defined within this file, specifically the check
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185 task as described at the top of this file. */
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189 , configMINIMAL_STACK_SIZE
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191 , mainCHECK_TASK_PRIORITY
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194 /* Start the scheduler. */
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195 vTaskStartScheduler();
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197 /* Will only get here if there was insufficient memory to create the idle
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202 /*-----------------------------------------------------------*/
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205 * \brief The task function for the "Check" task.
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207 static void vErrorChecks( void *pvParameters )
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209 static volatile unsigned long ulDummyVariable = 3UL;
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210 unsigned long ulMemCheckTaskRunningCount;
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211 TaskHandle_t xCreatedTask;
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212 portBASE_TYPE bSuicidalTask = 0;
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214 /* The parameters are not used. Prevent compiler warnings. */
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215 ( void ) pvParameters;
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217 /* Cycle for ever, delaying then checking all the other tasks are still
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218 operating without error.
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220 In addition to the standard tests the memory allocator is tested through
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221 the dynamic creation and deletion of a task each cycle. Each time the
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222 task is created memory must be allocated for its stack. When the task is
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223 deleted this memory is returned to the heap. If the task cannot be created
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224 then it is likely that the memory allocation failed. */
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228 /* Do this only once. */
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229 if( bSuicidalTask == 0 )
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233 /* This task has to be created last as it keeps account of the number of
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234 tasks it expects to see running. However its implementation expects
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235 to be called before vTaskStartScheduler(). We're in the case here where
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236 vTaskStartScheduler() has already been called (thus the hidden IDLE task
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237 has already been spawned). Since vCreateSuicidalTask() supposes that the
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238 IDLE task isn't included in the response from uxTaskGetNumberOfTasks(),
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239 let the MEM_CHECK task play that role. => this is why vCreateSuicidalTasks()
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240 is not called as the last task. */
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241 vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
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244 /* Reset xCreatedTask. This is modified by the task about to be
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245 created so we can tell if it is executing correctly or not. */
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246 xCreatedTask = mainNO_TASK;
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248 /* Dynamically create a task - passing ulMemCheckTaskRunningCount as a
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250 ulMemCheckTaskRunningCount = mainCOUNT_INITIAL_VALUE;
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252 if( xTaskCreate( vMemCheckTask,
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254 configMINIMAL_STACK_SIZE,
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255 ( void * ) &ulMemCheckTaskRunningCount,
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256 tskIDLE_PRIORITY, &xCreatedTask ) != pdPASS )
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258 /* Could not create the task - we have probably run out of heap.
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259 Don't go any further and flash the LED faster to provide visual
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260 feedback of the error. */
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261 prvIndicateError();
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264 /* Delay until it is time to execute again. */
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265 vTaskDelay( mainCHECK_PERIOD );
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267 /* Delete the dynamically created task. */
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268 if( xCreatedTask != mainNO_TASK )
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270 vTaskDelete( xCreatedTask );
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273 /* Perform a bit of 32bit maths to ensure the registers used by the
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274 integer tasks get some exercise. The result here is not important -
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275 see the demo application documentation for more info. */
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276 ulDummyVariable *= 3;
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278 /* Check all other tasks are still operating without error.
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279 Check that vMemCheckTask did increment the counter. */
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280 if( ( prvCheckOtherTasksAreStillRunning() != pdFALSE )
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281 || ( ulMemCheckTaskRunningCount == mainCOUNT_INITIAL_VALUE ) )
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283 /* An error has occurred in one of the tasks.
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284 Don't go any further and flash the LED faster to give visual
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285 feedback of the error. */
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286 prvIndicateError();
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290 /* Toggle the LED if everything is okay. */
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291 vParTestToggleLED( mainCHECK_TASK_LED );
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295 /*-----------------------------------------------------------*/
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299 * \brief Checks that all the demo application tasks are still executing without error.
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301 static portBASE_TYPE prvCheckOtherTasksAreStillRunning( void )
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303 static portBASE_TYPE xErrorHasOccurred = pdFALSE;
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305 if( xAreComTestTasksStillRunning() != pdTRUE )
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307 xErrorHasOccurred = pdTRUE;
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310 if( xArePollingQueuesStillRunning() != pdTRUE )
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312 xErrorHasOccurred = pdTRUE;
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315 if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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317 xErrorHasOccurred = pdTRUE;
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320 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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322 xErrorHasOccurred = pdTRUE;
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325 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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327 xErrorHasOccurred = pdTRUE;
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330 if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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332 xErrorHasOccurred = pdTRUE;
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335 if( xAreMathsTaskStillRunning() != pdTRUE )
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337 xErrorHasOccurred = pdTRUE;
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340 if( xIsCreateTaskStillRunning() != pdTRUE )
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342 xErrorHasOccurred = pdTRUE;
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345 return ( xErrorHasOccurred );
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347 /*-----------------------------------------------------------*/
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351 * \brief Dynamically created and deleted during each cycle of the vErrorChecks()
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352 * task. This is done to check the operation of the memory allocator.
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353 * See the top of vErrorChecks for more details.
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355 * \param *pvParameters Parameters for the task (can be of any kind)
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357 static void vMemCheckTask( void *pvParameters )
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359 unsigned long *pulMemCheckTaskRunningCounter;
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360 void *pvMem1, *pvMem2, *pvMem3;
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361 static long lErrorOccurred = pdFALSE;
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363 /* This task is dynamically created then deleted during each cycle of the
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364 vErrorChecks task to check the operation of the memory allocator. Each time
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365 the task is created memory is allocated for the stack and TCB. Each time
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366 the task is deleted this memory is returned to the heap. This task itself
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367 exercises the allocator by allocating and freeing blocks.
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369 The task executes at the idle priority so does not require a delay.
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371 pulMemCheckTaskRunningCounter is incremented each cycle to indicate to the
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372 vErrorChecks() task that this task is still executing without error. */
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374 pulMemCheckTaskRunningCounter = ( unsigned long * ) pvParameters;
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378 if( lErrorOccurred == pdFALSE )
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380 /* We have never seen an error so increment the counter. */
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381 ( *pulMemCheckTaskRunningCounter )++;
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385 /* There has been an error so reset the counter so the check task
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386 can tell that an error occurred. */
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387 *pulMemCheckTaskRunningCounter = mainCOUNT_INITIAL_VALUE;
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390 /* Allocate some memory - just to give the allocator some extra
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391 exercise. This has to be in a critical section to ensure the
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392 task does not get deleted while it has memory allocated. */
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396 pvMem1 = pvPortMalloc( mainMEM_CHECK_SIZE_1 );
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398 if( pvMem1 == NULL )
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400 lErrorOccurred = pdTRUE;
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404 memset( pvMem1, 0xaa, mainMEM_CHECK_SIZE_1 );
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405 vPortFree( pvMem1 );
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410 /* Again - with a different size block. */
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413 pvMem2 = pvPortMalloc( mainMEM_CHECK_SIZE_2 );
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415 if( pvMem2 == NULL )
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417 lErrorOccurred = pdTRUE;
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421 memset( pvMem2, 0xaa, mainMEM_CHECK_SIZE_2 );
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422 vPortFree( pvMem2 );
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427 /* Again - with a different size block. */
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430 pvMem3 = pvPortMalloc( mainMEM_CHECK_SIZE_3 );
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431 if( pvMem3 == NULL )
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433 lErrorOccurred = pdTRUE;
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437 memset( pvMem3, 0xaa, mainMEM_CHECK_SIZE_3 );
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438 vPortFree( pvMem3 );
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444 /*-----------------------------------------------------------*/
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446 static void prvIndicateError( void )
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448 /* The check task has found an error in one of the other tasks.
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449 Set the LEDs to a state that indicates this. */
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450 vParTestSetLED(mainERROR_LED,pdTRUE);
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454 #if( BOARD==EVK1100 )
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455 vParTestToggleLED( mainCHECK_TASK_LED );
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456 vTaskDelay( mainERROR_FLASH_RATE );
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458 #if ( BOARD==EVK1101 )
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459 vParTestSetLED( 0, pdTRUE );
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460 vParTestSetLED( 1, pdTRUE );
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461 vParTestSetLED( 2, pdTRUE );
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462 vParTestSetLED( 3, pdTRUE );
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