2 FreeRTOS V8.2.0rc1 - Copyright (C) 2014 Real Time Engineers Ltd.
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5 VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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7 This file is part of the FreeRTOS distribution.
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9 FreeRTOS is free software; you can redistribute it and/or modify it under
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10 the terms of the GNU General Public License (version 2) as published by the
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11 Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
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13 >>! NOTE: The modification to the GPL is included to allow you to !<<
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14 >>! distribute a combined work that includes FreeRTOS without being !<<
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15 >>! obliged to provide the source code for proprietary components !<<
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16 >>! outside of the FreeRTOS kernel. !<<
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18 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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19 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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20 FOR A PARTICULAR PURPOSE. Full license text is available on the following
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21 link: http://www.freertos.org/a00114.html
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25 ***************************************************************************
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27 * Having a problem? Start by reading the FAQ "My application does *
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28 * not run, what could be wrong?". Have you defined configASSERT()? *
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30 * http://www.FreeRTOS.org/FAQHelp.html *
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32 ***************************************************************************
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34 ***************************************************************************
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36 * FreeRTOS provides completely free yet professionally developed, *
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37 * robust, strictly quality controlled, supported, and cross *
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38 * platform software that is more than just the market leader, it *
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39 * is the industry's de facto standard. *
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41 * Help yourself get started quickly while simultaneously helping *
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42 * to support the FreeRTOS project by purchasing a FreeRTOS *
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43 * tutorial book, reference manual, or both: *
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44 * http://www.FreeRTOS.org/Documentation *
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46 ***************************************************************************
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48 ***************************************************************************
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50 * Investing in training allows your team to be as productive as *
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51 * possible as early as possible, lowering your overall development *
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52 * cost, and enabling you to bring a more robust product to market *
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53 * earlier than would otherwise be possible. Richard Barry is both *
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54 * the architect and key author of FreeRTOS, and so also the world's *
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55 * leading authority on what is the world's most popular real time *
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56 * kernel for deeply embedded MCU designs. Obtaining your training *
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57 * from Richard ensures your team will gain directly from his in-depth *
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58 * product knowledge and years of usage experience. Contact Real Time *
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59 * Engineers Ltd to enquire about the FreeRTOS Masterclass, presented *
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60 * by Richard Barry: http://www.FreeRTOS.org/contact
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62 ***************************************************************************
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64 ***************************************************************************
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66 * You are receiving this top quality software for free. Please play *
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67 * fair and reciprocate by reporting any suspected issues and *
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68 * participating in the community forum: *
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69 * http://www.FreeRTOS.org/support *
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73 ***************************************************************************
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75 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
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76 license and Real Time Engineers Ltd. contact details.
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78 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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79 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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80 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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82 http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
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83 Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
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85 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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86 Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
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87 licenses offer ticketed support, indemnification and commercial middleware.
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89 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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90 engineered and independently SIL3 certified version for use in safety and
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91 mission critical applications that require provable dependability.
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96 /******************************************************************************
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97 * NOTE 1: This project provides two demo applications. A simple blinky style
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98 * project, and a more comprehensive test and demo application. The
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99 * mainCREATE_SIMPLE_BLINKY_DEMO_ONLY setting in main.c is used to select
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100 * between the two. See the notes on using mainCREATE_SIMPLE_BLINKY_DEMO_ONLY
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101 * in main.c. This file implements the comprehensive test and demo version.
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103 * NOTE 2: This file only contains the source code that is specific to the
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104 * full demo. Generic functions, such FreeRTOS hook functions, and functions
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105 * required to configure the hardware, are defined in main.c.
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106 ******************************************************************************
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108 * main_full() creates a set of standard demo tasks, some application specific
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109 * tasks, and four timers. It then starts the scheduler. The web documentation
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110 * provides more details of the standard demo application tasks, which provide
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111 * no particular functionality, but do provide a good example of how to use the
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114 * In addition to the standard demo tasks, the following tasks and timer are
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115 * defined and/or created within this file:
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117 * "Reg test" tasks - These fill the registers with known values, then check
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118 * that each register maintains its expected value for the lifetime of the
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119 * task. Each task uses a different set of values. The reg test tasks execute
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120 * with a very low priority, so get preempted very frequently. A register
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121 * containing an unexpected value is indicative of an error in the context
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122 * switching mechanism.
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124 * "Interrupt semaphore take" task - This task does nothing but block on a
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125 * semaphore that is 'given' from the tick hook function (which is defined in
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126 * main.c). It toggles the fourth LED each time it receives the semaphore. The
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127 * Semahore is given every 50ms, so LED 4 toggles every 50ms.
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129 * "Flash timers" - A software timer callback function is defined that does
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130 * nothing but toggle an LED. Three software timers are created that each
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131 * use the same callback function, but each toggles a different LED at a
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132 * different frequency. The timers control the first three LEDs.
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134 * "Check" software timer - The check timer period is initially set to three
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135 * seconds. Its callback function checks that all the standard demo tasks, and
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136 * the register check tasks, are not only still executing, but are executing
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137 * without reporting any errors. If the check timer callback discovers that a
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138 * task has either stalled, or reported an error, then it changes the period of
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139 * the check timer from the initial three seconds, to just 200ms. The callback
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140 * function also toggles the fifth LED each time it is called. This provides a
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141 * visual indication of the system status: If the LED toggles every three
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142 * seconds then no issues have been discovered. If the LED toggles every 200ms,
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143 * then an issue has been discovered with at least one task.
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146 /* Kernel includes. */
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147 #include "FreeRTOS.h"
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150 #include "semphr.h"
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151 #include "timers.h"
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153 /* Common demo includes. */
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154 #include "blocktim.h"
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155 #include "countsem.h"
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156 #include "recmutex.h"
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157 #include "ParTest.h"
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158 #include "dynamic.h"
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159 #include "QueueOverwrite.h"
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160 #include "QueueSet.h"
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162 /* The period after which the check timer will expire provided no errors have
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163 been reported by any of the standard demo tasks. ms are converted to the
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164 equivalent in ticks using the portTICK_PERIOD_MS constant. */
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165 #define mainCHECK_TIMER_PERIOD_MS ( 3000UL / portTICK_PERIOD_MS )
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167 /* The period at which the check timer will expire if an error has been
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168 reported in one of the standard demo tasks. ms are converted to the equivalent
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169 in ticks using the portTICK_PERIOD_MS constant. */
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170 #define mainERROR_CHECK_TIMER_PERIOD_MS ( 200UL / portTICK_PERIOD_MS )
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172 /* A block time of zero simply means "don't block". */
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173 #define mainDONT_BLOCK ( 0UL )
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175 /* The base toggle rate used by the flash timers. Each toggle rate is a
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176 multiple of this. */
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177 #define mainFLASH_TIMER_BASE_RATE ( 200UL / portTICK_PERIOD_MS )
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179 /* The LED toggle by the check timer. */
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180 #define mainCHECK_LED ( 4 )
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182 /* The LED toggled each time the task implemented by the prvSemaphoreTakeTask()
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183 function takes the semaphore that is given by the tick hook function. */
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184 #define mainSEMAPHORE_LED ( 3 )
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186 /*-----------------------------------------------------------*/
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189 * Register check tasks, as described at the top of this file. The nature of
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190 * these files necessitates that they are written in an assembly.
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192 extern void vRegTest1Task( void *pvParameters );
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193 extern void vRegTest2Task( void *pvParameters );
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196 * The hardware only has a single LED. Simply toggle it.
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198 extern void vMainToggleLED( void );
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201 * The check timer callback function, as described at the top of this file.
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203 static void prvCheckTimerCallback( TimerHandle_t xTimer );
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206 * The flash timer callback function, as described at the top of this file.
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207 * This callback function is assigned to three separate software timers.
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209 static void prvFlashTimerCallback( TimerHandle_t xTimer );
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212 * The task that toggles an LED each time the semaphore 'given' by the tick
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213 * hook function (which is defined in main.c) is 'taken' in the task.
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215 static void prvSemaphoreTakeTask( void *pvParameters );
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218 * Called by main() to create the comprehensive test/demo application if
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219 * mainCREATE_SIMPLE_BLINKY_DEMO_ONLY is not set to 1.
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221 void main_full( void );
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223 /*-----------------------------------------------------------*/
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225 /* The following two variables are used to communicate the status of the
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226 register check tasks to the check software timer. If the variables keep
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227 incrementing, then the register check tasks has not discovered any errors. If
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228 a variable stops incrementing, then an error has been found. */
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229 volatile unsigned long ulRegTest1LoopCounter = 0UL, ulRegTest2LoopCounter = 0UL;
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231 /* The semaphore that is given by the tick hook function (defined in main.c)
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232 and taken by the task implemented by the prvSemaphoreTakeTask() function. The
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233 task toggles LED mainSEMAPHORE_LED each time the semaphore is taken. */
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234 SemaphoreHandle_t xLEDSemaphore = NULL;
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235 /*-----------------------------------------------------------*/
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237 void main_full( void )
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239 TimerHandle_t xTimer = NULL;
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240 unsigned long ulTimer;
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241 const unsigned long ulTimersToCreate = 3L;
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242 /* The register test tasks are asm functions that don't use a stack. The
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243 stack allocated just has to be large enough to hold the task context, and
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244 for the additional required for the stack overflow checking to work (if
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246 const size_t xRegTestStackSize = 25U;
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248 /* Create the standard demo tasks */
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249 vCreateBlockTimeTasks();
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250 vStartDynamicPriorityTasks();
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251 vStartCountingSemaphoreTasks();
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252 vStartRecursiveMutexTasks();
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253 vStartQueueOverwriteTask( tskIDLE_PRIORITY );
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254 vStartQueueSetTasks();
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256 /* Create that is given from the tick hook function, and the task that
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257 toggles an LED each time the semaphore is given. */
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258 vSemaphoreCreateBinary( xLEDSemaphore );
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259 xTaskCreate( prvSemaphoreTakeTask, /* Function that implements the task. */
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260 "Sem", /* Text name of the task. */
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261 configMINIMAL_STACK_SIZE, /* Stack allocated to the task (in words). */
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262 NULL, /* The task parameter is not used. */
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263 configMAX_PRIORITIES - 2, /* The priority of the task. */
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264 NULL ); /* Don't receive a handle back, it is not needed. */
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266 /* Create the register test tasks as described at the top of this file.
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267 These are naked functions that don't use any stack. A stack still has
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268 to be allocated to hold the task context. */
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269 xTaskCreate( vRegTest1Task, /* Function that implements the task. */
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270 "Reg1", /* Text name of the task. */
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271 xRegTestStackSize, /* Stack allocated to the task. */
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272 NULL, /* The task parameter is not used. */
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273 tskIDLE_PRIORITY, /* The priority to assign to the task. */
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274 NULL ); /* Don't receive a handle back, it is not needed. */
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276 xTaskCreate( vRegTest2Task, /* Function that implements the task. */
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277 "Reg2", /* Text name of the task. */
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278 xRegTestStackSize, /* Stack allocated to the task. */
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279 NULL, /* The task parameter is not used. */
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280 tskIDLE_PRIORITY, /* The priority to assign to the task. */
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281 NULL ); /* Don't receive a handle back, it is not needed. */
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283 /* Create the three flash timers. */
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284 for( ulTimer = 0UL; ulTimer < ulTimersToCreate; ulTimer++ )
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286 xTimer = xTimerCreate( "FlashTimer", /* A text name, purely to help debugging. */
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287 ( mainFLASH_TIMER_BASE_RATE * ( ulTimer + 1UL ) ), /* The timer period, in this case 3000ms (3s). */
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288 pdTRUE, /* This is an auto-reload timer, so xAutoReload is set to pdTRUE. */
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289 ( void * ) ulTimer, /* The ID is used to hold the number of the LED that will be flashed. */
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290 prvFlashTimerCallback /* The callback function that inspects the status of all the other tasks. */
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293 if( xTimer != NULL )
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295 xTimerStart( xTimer, mainDONT_BLOCK );
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299 /* Create the software timer that performs the 'check' functionality,
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300 as described at the top of this file. */
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301 xTimer = xTimerCreate( "CheckTimer", /* A text name, purely to help debugging. */
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302 ( mainCHECK_TIMER_PERIOD_MS ), /* The timer period, in this case 3000ms (3s). */
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303 pdTRUE, /* This is an auto-reload timer, so xAutoReload is set to pdTRUE. */
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304 ( void * ) 0, /* The ID is not used, so can be set to anything. */
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305 prvCheckTimerCallback /* The callback function that inspects the status of all the other tasks. */
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308 /* If the software timer was created successfully, start it. It won't
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309 actually start running until the scheduler starts. A block time of
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310 zero is used in this call, although any value could be used as the block
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311 time will be ignored because the scheduler has not started yet. */
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312 if( xTimer != NULL )
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314 xTimerStart( xTimer, mainDONT_BLOCK );
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317 /* Start the kernel. From here on, only tasks and interrupts will run. */
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318 vTaskStartScheduler();
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320 /* If all is well, the scheduler will now be running, and the following
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321 line will never be reached. If the following line does execute, then there
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322 was insufficient FreeRTOS heap memory available for the idle and/or timer
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323 tasks to be created. See the memory management section on the FreeRTOS web
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324 site, or the FreeRTOS tutorial books for more details. */
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327 /*-----------------------------------------------------------*/
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329 /* See the description at the top of this file. */
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330 static void prvCheckTimerCallback( TimerHandle_t xTimer )
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332 static long lChangedTimerPeriodAlready = pdFALSE;
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333 static unsigned long ulLastRegTest1Value = 0, ulLastRegTest2Value = 0;
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334 unsigned long ulErrorFound = pdFALSE;
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336 /* Check all the demo and test tasks to ensure that they are all still
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337 running, and that none have detected an error. */
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338 if( xAreDynamicPriorityTasksStillRunning() != pdPASS )
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340 ulErrorFound |= ( 0x01UL << 0UL );
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343 if( xAreBlockTimeTestTasksStillRunning() != pdPASS )
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345 ulErrorFound |= ( 0x01UL << 1UL );
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348 if( xAreCountingSemaphoreTasksStillRunning() != pdPASS )
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350 ulErrorFound |= ( 0x01UL << 2UL );
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353 if( xAreRecursiveMutexTasksStillRunning() != pdPASS )
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355 ulErrorFound |= ( 0x01UL << 3UL );
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358 /* Check that the register test 1 task is still running. */
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359 if( ulLastRegTest1Value == ulRegTest1LoopCounter )
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361 ulErrorFound |= ( 0x01UL << 4UL );
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363 ulLastRegTest1Value = ulRegTest1LoopCounter;
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365 /* Check that the register test 2 task is still running. */
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366 if( ulLastRegTest2Value == ulRegTest2LoopCounter )
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368 ulErrorFound |= ( 0x01UL << 5UL );
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370 ulLastRegTest2Value = ulRegTest2LoopCounter;
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372 if( xAreQueueSetTasksStillRunning() != pdPASS )
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374 ulErrorFound |= ( 0x01UL << 6UL );
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377 if( xIsQueueOverwriteTaskStillRunning() != pdPASS )
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379 ulErrorFound |= ( 0x01UL << 7UL );
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382 /* Toggle the check LED to give an indication of the system status. If
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383 the LED toggles every mainCHECK_TIMER_PERIOD_MS milliseconds then
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384 everything is ok. A faster toggle indicates an error. */
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385 vParTestToggleLED( mainCHECK_LED );
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387 /* Have any errors been latched in ulErrorFound? If so, shorten the
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388 period of the check timer to mainERROR_CHECK_TIMER_PERIOD_MS milliseconds.
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389 This will result in an increase in the rate at which mainCHECK_LED
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391 if( ulErrorFound != pdFALSE )
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393 if( lChangedTimerPeriodAlready == pdFALSE )
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395 lChangedTimerPeriodAlready = pdTRUE;
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397 /* This call to xTimerChangePeriod() uses a zero block time.
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398 Functions called from inside of a timer callback function must
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399 *never* attempt to block. */
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400 xTimerChangePeriod( xTimer, ( mainERROR_CHECK_TIMER_PERIOD_MS ), mainDONT_BLOCK );
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404 /*-----------------------------------------------------------*/
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406 static void prvSemaphoreTakeTask( void *pvParameters )
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408 configASSERT( xLEDSemaphore );
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412 /* Wait to obtain the semaphore - which is given by the tick hook
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413 function every 50ms. */
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414 xSemaphoreTake( xLEDSemaphore, portMAX_DELAY );
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415 vParTestToggleLED( mainSEMAPHORE_LED );
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418 /*-----------------------------------------------------------*/
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420 static void prvFlashTimerCallback( TimerHandle_t xTimer )
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422 unsigned long ulLED;
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424 /* This callback function is assigned to three separate software timers.
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425 Each timer toggles a different LED. Obtain the number of the LED that
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426 this timer is toggling. */
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427 ulLED = ( unsigned long ) pvTimerGetTimerID( xTimer );
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429 /* Toggle the LED. */
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430 vParTestToggleLED( ulLED );
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