2 * FreeRTOS Kernel V10.2.0
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3 * Copyright (C) 2019 Amazon.com, Inc. or its affiliates. All Rights Reserved.
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5 * Permission is hereby granted, free of charge, to any person obtaining a copy of
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6 * this software and associated documentation files (the "Software"), to deal in
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7 * the Software without restriction, including without limitation the rights to
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8 * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
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9 * the Software, and to permit persons to whom the Software is furnished to do so,
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10 * subject to the following conditions:
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12 * The above copyright notice and this permission notice shall be included in all
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13 * copies or substantial portions of the Software.
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15 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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16 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
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17 * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
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18 * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
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19 * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
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20 * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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22 * http://www.FreeRTOS.org
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23 * http://aws.amazon.com/freertos
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25 * 1 tab == 4 spaces!
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28 /******************************************************************************
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29 * NOTE 1: This project provides two demo applications. A simple blinky
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30 * style project, and a more comprehensive test and demo application. The
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31 * mainCREATE_SIMPLY_BLINKY_DEMO_ONLY setting in main.c is used to select
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32 * between the two. See the notes on using mainCREATE_SIMPLY_BLINKY_DEMO_ONLY
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33 * in main.c. This file implements the comprehensive version.
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35 * NOTE 2: This file only contains the source code that is specific to the
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36 * full demo. Generic functions, such FreeRTOS hook functions, and functions
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37 * required to configure the hardware, are defined in main.c.
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39 ******************************************************************************
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41 * main_full() creates all the demo application tasks and software timers, then
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42 * starts the scheduler. The web documentation provides more details of the
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43 * standard demo application tasks, which provide no particular functionality,
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44 * but do provide a good example of how to use the FreeRTOS API.
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46 * In addition to the standard demo tasks, the following tasks and tests are
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47 * defined and/or created within this file:
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49 * "Reg test" tasks - These fill both the core and floating point registers with
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50 * known values, then check that each register maintains its expected value for
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51 * the lifetime of the task. Each task uses a different set of values. The reg
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52 * test tasks execute with a very low priority, so get preempted very
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53 * frequently. A register containing an unexpected value is indicative of an
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54 * error in the context switching mechanism.
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56 * "Check" task - The check task period is initially set to three seconds. The
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57 * task checks that all the standard demo tasks, and the register check tasks,
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58 * are not only still executing, but are executing without reporting any errors.
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59 * If the check task discovers that a task has either stalled, or reported an
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60 * error, then it changes its own execution period from the initial three
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61 * seconds, to just 200ms. The check task also toggles an LED each time it is
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62 * called. This provides a visual indication of the system status: If the LED
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63 * toggles every three seconds, then no issues have been discovered. If the LED
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64 * toggles every 200ms, then an issue has been discovered with at least one
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68 /* Standard includes. */
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71 /* Kernel includes. */
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72 #include "FreeRTOS.h"
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77 /* Standard demo application includes. */
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79 #include "semtest.h"
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80 #include "dynamic.h"
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82 #include "blocktim.h"
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83 #include "countsem.h"
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84 #include "GenQTest.h"
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85 #include "recmutex.h"
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87 #include "partest.h"
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88 #include "comtest2.h"
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90 #include "TimerDemo.h"
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91 #include "QueueOverwrite.h"
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92 #include "EventGroupsDemo.h"
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93 #include "IntSemTest.h"
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95 /* Priorities for the demo application tasks. */
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96 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1UL )
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97 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2UL )
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98 #define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3UL )
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99 #define mainFLOP_TASK_PRIORITY ( tskIDLE_PRIORITY )
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100 #define mainUART_COMMAND_CONSOLE_STACK_SIZE ( configMINIMAL_STACK_SIZE * 3UL )
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101 #define mainCOM_TEST_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
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102 #define mainCHECK_TASK_PRIORITY ( configMAX_PRIORITIES - 1 )
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103 #define mainQUEUE_OVERWRITE_PRIORITY ( tskIDLE_PRIORITY )
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105 /* The priority used by the UART command console task. This is very basic and
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106 uses the Altera polling UART driver - so *must* run at the idle priority. */
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107 #define mainUART_COMMAND_CONSOLE_TASK_PRIORITY ( tskIDLE_PRIORITY )
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109 /* The LED used by the check task. */
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110 #define mainCHECK_LED ( 0 )
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112 /* A block time of zero simply means "don't block". */
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113 #define mainDONT_BLOCK ( 0UL )
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115 /* The period of the check task, in ms, provided no errors have been reported by
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116 any of the standard demo tasks. ms are converted to the equivalent in ticks
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117 using the pdMS_TO_TICKS() macro constant. */
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118 #define mainNO_ERROR_CHECK_TASK_PERIOD pdMS_TO_TICKS( 3000UL )
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120 /* The period of the check task, in ms, if an error has been reported in one of
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121 the standard demo tasks. ms are converted to the equivalent in ticks using the
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122 pdMS_TO_TICKS() macro. */
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123 #define mainERROR_CHECK_TASK_PERIOD pdMS_TO_TICKS( 200UL )
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125 /* Parameters that are passed into the register check tasks solely for the
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126 purpose of ensuring parameters are passed into tasks correctly. */
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127 #define mainREG_TEST_TASK_1_PARAMETER ( ( void * ) 0x12345678 )
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128 #define mainREG_TEST_TASK_2_PARAMETER ( ( void * ) 0x87654321 )
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130 /* The base period used by the timer test tasks. */
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131 #define mainTIMER_TEST_PERIOD ( 50 )
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133 /*-----------------------------------------------------------*/
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137 * The check task, as described at the top of this file.
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139 static void prvCheckTask( void *pvParameters );
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142 * Register check tasks, and the tasks used to write over and check the contents
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143 * of the FPU registers, as described at the top of this file. The nature of
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144 * these files necessitates that they are written in an assembly file, but the
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145 * entry points are kept in the C file for the convenience of checking the task
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148 static void prvRegTestTaskEntry1( void *pvParameters );
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149 extern void vRegTest1Implementation( void );
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150 static void prvRegTestTaskEntry2( void *pvParameters );
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151 extern void vRegTest2Implementation( void );
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154 * Register commands that can be used with FreeRTOS+CLI. The commands are
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155 * defined in CLI-Commands.c and File-Related-CLI-Command.c respectively.
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157 extern void vRegisterSampleCLICommands( void );
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160 * The task that manages the FreeRTOS+CLI input and output.
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162 extern void vUARTCommandConsoleStart( uint16_t usStackSize, UBaseType_t uxPriority );
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165 * A high priority task that does nothing other than execute at a pseudo random
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166 * time to ensure the other test tasks don't just execute in a repeating
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169 static void prvPseudoRandomiser( void *pvParameters );
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171 /*-----------------------------------------------------------*/
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173 /* The following two variables are used to communicate the status of the
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174 register check tasks to the check task. If the variables keep incrementing,
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175 then the register check tasks have not discovered any errors. If a variable
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176 stops incrementing, then an error has been found. */
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177 volatile unsigned long ulRegTest1LoopCounter = 0UL, ulRegTest2LoopCounter = 0UL;
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179 /*-----------------------------------------------------------*/
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181 void main_full( void )
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183 /* Start all the other standard demo/test tasks. They have no particular
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184 functionality, but do demonstrate how to use the FreeRTOS API and test the
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186 vStartDynamicPriorityTasks();
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187 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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188 vCreateBlockTimeTasks();
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189 vStartCountingSemaphoreTasks();
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190 vStartGenericQueueTasks( tskIDLE_PRIORITY );
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191 vStartRecursiveMutexTasks();
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192 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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193 vStartMathTasks( mainFLOP_TASK_PRIORITY );
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194 vStartTimerDemoTask( mainTIMER_TEST_PERIOD );
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195 vStartQueueOverwriteTask( mainQUEUE_OVERWRITE_PRIORITY );
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196 vStartEventGroupTasks();
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197 vStartInterruptSemaphoreTasks();
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199 /* Start the tasks that implements the command console on the UART, as
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200 described above. */
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201 vUARTCommandConsoleStart( mainUART_COMMAND_CONSOLE_STACK_SIZE, mainUART_COMMAND_CONSOLE_TASK_PRIORITY );
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203 /* Register the standard CLI commands. */
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204 vRegisterSampleCLICommands();
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206 /* Create the register check tasks, as described at the top of this file */
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207 xTaskCreate( prvRegTestTaskEntry1, "Reg1", configMINIMAL_STACK_SIZE, mainREG_TEST_TASK_1_PARAMETER, tskIDLE_PRIORITY, NULL );
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208 xTaskCreate( prvRegTestTaskEntry2, "Reg2", configMINIMAL_STACK_SIZE, mainREG_TEST_TASK_2_PARAMETER, tskIDLE_PRIORITY, NULL );
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210 /* Create the task that just adds a little random behaviour. */
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211 xTaskCreate( prvPseudoRandomiser, "Rnd", configMINIMAL_STACK_SIZE, NULL, configMAX_PRIORITIES - 1, NULL );
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213 /* Create the task that performs the 'check' functionality, as described at
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214 the top of this file. */
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215 xTaskCreate( prvCheckTask, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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217 /* The set of tasks created by the following function call have to be
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218 created last as they keep account of the number of tasks they expect to see
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220 vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
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222 /* Start the scheduler. */
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223 vTaskStartScheduler();
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225 /* If all is well, the scheduler will now be running, and the following
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226 line will never be reached. If the following line does execute, then
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227 there was either insufficient FreeRTOS heap memory available for the idle
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228 and/or timer tasks to be created, or vTaskStartScheduler() was called from
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229 User mode. See the memory management section on the FreeRTOS web site for
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230 more details on the FreeRTOS heap http://www.freertos.org/a00111.html. The
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231 mode from which main() is called is set in the C start up code and must be
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232 a privileged mode (not user mode). */
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235 /*-----------------------------------------------------------*/
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237 static void prvCheckTask( void *pvParameters )
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239 TickType_t xDelayPeriod = mainNO_ERROR_CHECK_TASK_PERIOD;
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240 TickType_t xLastExecutionTime;
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241 static unsigned long ulLastRegTest1Value = 0, ulLastRegTest2Value = 0;
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242 unsigned long ulErrorFound = pdFALSE;
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244 /* Just to stop compiler warnings. */
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245 ( void ) pvParameters;
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247 /* Initialise xLastExecutionTime so the first call to vTaskDelayUntil()
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248 works correctly. */
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249 xLastExecutionTime = xTaskGetTickCount();
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251 /* Cycle for ever, delaying then checking all the other tasks are still
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252 operating without error. The onboard LED is toggled on each iteration.
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253 If an error is detected then the delay period is decreased from
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254 mainNO_ERROR_CHECK_TASK_PERIOD to mainERROR_CHECK_TASK_PERIOD. This has the
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255 effect of increasing the rate at which the onboard LED toggles, and in so
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256 doing gives visual feedback of the system status. */
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259 /* Delay until it is time to execute again. */
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260 vTaskDelayUntil( &xLastExecutionTime, xDelayPeriod );
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262 /* Check all the demo tasks (other than the flash tasks) to ensure
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263 that they are all still running, and that none have detected an error. */
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264 if( xAreMathsTaskStillRunning() != pdTRUE )
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266 ulErrorFound = 1 << 1;
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269 if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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271 ulErrorFound = 1 << 2;
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274 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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276 ulErrorFound = 1 << 3;
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279 if ( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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281 ulErrorFound = 1 << 4;
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284 if ( xAreGenericQueueTasksStillRunning() != pdTRUE )
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286 ulErrorFound = 1 << 5;
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289 if ( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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291 ulErrorFound = 1 << 6;
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294 if( xIsCreateTaskStillRunning() != pdTRUE )
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296 ulErrorFound = 1 << 7;
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299 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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301 ulErrorFound = 1 << 8;
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304 if( xAreTimerDemoTasksStillRunning( ( TickType_t ) mainNO_ERROR_CHECK_TASK_PERIOD ) != pdPASS )
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306 ulErrorFound = 1 << 9;
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309 if( xAreCountingSemaphoreTasksStillRunning() != pdTRUE )
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311 ulErrorFound = 1 << 10;
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314 if( xIsQueueOverwriteTaskStillRunning() != pdPASS )
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316 ulErrorFound = 1 << 11;
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319 if( xAreEventGroupTasksStillRunning() != pdPASS )
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321 ulErrorFound = 1 << 12;
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324 if( xAreInterruptSemaphoreTasksStillRunning() != pdPASS )
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326 ulErrorFound = 1 << 13;
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329 /* Check that the register test 1 task is still running. */
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330 if( ulLastRegTest1Value == ulRegTest1LoopCounter )
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332 ulErrorFound = 1 << 14;
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334 ulLastRegTest1Value = ulRegTest1LoopCounter;
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336 /* Check that the register test 2 task is still running. */
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337 if( ulLastRegTest2Value == ulRegTest2LoopCounter )
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339 ulErrorFound = 1 << 15;
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341 ulLastRegTest2Value = ulRegTest2LoopCounter;
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343 /* Toggle the check LED to give an indication of the system status. If
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344 the LED toggles every mainNO_ERROR_CHECK_TASK_PERIOD milliseconds then
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345 everything is ok. A faster toggle indicates an error. */
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346 vParTestToggleLED( mainCHECK_LED );
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348 if( ulErrorFound != pdFALSE )
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350 /* An error has been detected in one of the tasks - flash the LED
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351 at a higher frequency to give visible feedback that something has
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352 gone wrong (it might just be that the loop back connector required
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353 by the comtest tasks has not been fitted). */
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354 xDelayPeriod = mainERROR_CHECK_TASK_PERIOD;
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358 /*-----------------------------------------------------------*/
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360 static void prvRegTestTaskEntry1( void *pvParameters )
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362 /* Although the regtest task is written in assembler, its entry point is
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363 written in C for convenience of checking the task parameter is being passed
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365 if( pvParameters == mainREG_TEST_TASK_1_PARAMETER )
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367 /* The reg test task also tests the floating point registers. Tasks
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368 that use the floating point unit must call vPortTaskUsesFPU() before
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369 any floating point instructions are executed. */
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370 vPortTaskUsesFPU();
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372 /* Start the part of the test that is written in assembler. */
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373 vRegTest1Implementation();
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376 /* The following line will only execute if the task parameter is found to
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377 be incorrect. The check task will detect that the regtest loop counter is
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378 not being incremented and flag an error. */
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379 vTaskDelete( NULL );
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381 /*-----------------------------------------------------------*/
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383 static void prvRegTestTaskEntry2( void *pvParameters )
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385 /* Although the regtest task is written in assembler, its entry point is
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386 written in C for convenience of checking the task parameter is being passed
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388 if( pvParameters == mainREG_TEST_TASK_2_PARAMETER )
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390 /* The reg test task also tests the floating point registers. Tasks
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391 that use the floating point unit must call vPortTaskUsesFPU() before
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392 any floating point instructions are executed. */
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393 vPortTaskUsesFPU();
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395 /* Start the part of the test that is written in assembler. */
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396 vRegTest2Implementation();
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399 /* The following line will only execute if the task parameter is found to
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400 be incorrect. The check task will detect that the regtest loop counter is
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401 not being incremented and flag an error. */
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402 vTaskDelete( NULL );
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404 /*-----------------------------------------------------------*/
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406 static void prvPseudoRandomiser( void *pvParameters )
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408 const uint32_t ulMultiplier = 0x015a4e35UL, ulIncrement = 1UL, ulMinDelay = ( 35 / portTICK_PERIOD_MS );
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409 volatile uint32_t ulNextRand = ( uint32_t ) &pvParameters, ulValue;
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412 /* This task does nothing other than ensure there is a little bit of
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413 disruption in the scheduling pattern of the other tasks. Normally this is
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414 done by generating interrupts at pseudo random times. */
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417 ulNextRand = ( ulMultiplier * ulNextRand ) + ulIncrement;
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418 ulValue = ( ulNextRand >> 16UL ) & 0xffUL;
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420 if( ulValue < ulMinDelay )
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422 ulValue = ulMinDelay;
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425 vTaskDelay( ulValue );
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427 while( ulValue > 0 )
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429 __asm volatile( "NOP" );
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430 __asm volatile( "NOP" );
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431 __asm volatile( "NOP" );
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432 __asm volatile( "NOP" );
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