2 FreeRTOS V7.1.1 - Copyright (C) 2012 Real Time Engineers Ltd.
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5 ***************************************************************************
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7 * FreeRTOS tutorial books are available in pdf and paperback. *
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8 * Complete, revised, and edited pdf reference manuals are also *
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11 * Purchasing FreeRTOS documentation will not only help you, by *
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12 * ensuring you get running as quickly as possible and with an *
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13 * in-depth knowledge of how to use FreeRTOS, it will also help *
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14 * the FreeRTOS project to continue with its mission of providing *
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15 * professional grade, cross platform, de facto standard solutions *
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16 * for microcontrollers - completely free of charge! *
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18 * >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
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20 * Thank you for using FreeRTOS, and thank you for your support! *
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22 ***************************************************************************
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25 This file is part of the FreeRTOS distribution.
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27 FreeRTOS is free software; you can redistribute it and/or modify it under
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28 the terms of the GNU General Public License (version 2) as published by the
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29 Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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30 >>>NOTE<<< The modification to the GPL is included to allow you to
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31 distribute a combined work that includes FreeRTOS without being obliged to
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32 provide the source code for proprietary components outside of the FreeRTOS
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33 kernel. FreeRTOS is distributed in the hope that it will be useful, but
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34 WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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35 or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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36 more details. You should have received a copy of the GNU General Public
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37 License and the FreeRTOS license exception along with FreeRTOS; if not it
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38 can be viewed here: http://www.freertos.org/a00114.html and also obtained
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39 by writing to Richard Barry, contact details for whom are available on the
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44 ***************************************************************************
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46 * Having a problem? Start by reading the FAQ "My application does *
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47 * not run, what could be wrong? *
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49 * http://www.FreeRTOS.org/FAQHelp.html *
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51 ***************************************************************************
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54 http://www.FreeRTOS.org - Documentation, training, latest information,
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55 license and contact details.
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57 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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58 including FreeRTOS+Trace - an indispensable productivity tool.
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60 Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell
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61 the code with commercial support, indemnification, and middleware, under
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62 the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also
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63 provide a safety engineered and independently SIL3 certified version under
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64 the SafeRTOS brand: http://www.SafeRTOS.com.
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67 /******************************************************************************
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68 * NOTE 1: This project provides two demo applications. A simple blinky style
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69 * project, and a more comprehensive test and demo application. The
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70 * mainCREATE_SIMPLE_BLINKY_DEMO_ONLY setting in main.c is used to select
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71 * between the two. See the notes on using mainCREATE_SIMPLE_BLINKY_DEMO_ONLY
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72 * in main.c. This file implements the comprehensive test and demo version.
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74 * NOTE 2: This file only contains the source code that is specific to the
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75 * full demo. Generic functions, such FreeRTOS hook functions, and functions
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76 * required to configure the hardware, are defined in main.c.
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77 ******************************************************************************
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79 * main_full() creates a set of standard demo tasks, some application specific
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80 * tasks, and four timers. It then starts the scheduler. The web documentation
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81 * provides more details of the standard demo application tasks, which provide
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82 * no particular functionality, but do provide a good example of how to use the
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85 * In addition to the standard demo tasks, the following tasks and timer are
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86 * defined and/or created within this file:
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88 * "Reg test" tasks - These fill the registers with known values, then check
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89 * that each register maintains its expected value for the lifetime of the
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90 * task. Each task uses a different set of values. The reg test tasks execute
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91 * with a very low priority, so get preempted very frequently. A register
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92 * containing an unexpected value is indicative of an error in the context
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93 * switching mechanism.
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95 * "Flash timers" - A software timer callback function is defined that does
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96 * nothing but toggle an LED. Three software timers are created that each
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97 * use the same callback function, but each toggles a different LED at a
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98 * different frequency. One software timer uses LED1, another LED2 and the
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101 * "Check" software timer - The check timer period is initially set to three
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102 * seconds. Its callback function checks that all the standard demo tasks, and
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103 * the register check tasks, are not only still executing, but are executing
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104 * without reporting any errors. If the check timer callback discovers that a
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105 * task has either stalled, or reported an error, then it changes the period of
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106 * the check timer from the initial three seconds, to just 200ms. The callback
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107 * function also toggles LED 4 each time it is called. This provides a visual
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108 * indication of the system status: If the LED toggles every three seconds,
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109 * then no issues have been discovered. If the LED toggles every 200ms, then
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110 * an issue has been discovered with at least one task.
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113 /* Kernel includes. */
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114 #include "FreeRTOS.h"
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117 #include "timers.h"
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119 /* Common demo includes. */
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120 #include "blocktim.h"
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121 #include "countsem.h"
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122 #include "recmutex.h"
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123 #include "ParTest.h"
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124 #include "dynamic.h"
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126 /* Hardware includes. */
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127 #include "stm320518_eval.h"
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129 /* The period after which the check timer will expire provided no errors have
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130 been reported by any of the standard demo tasks. ms are converted to the
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131 equivalent in ticks using the portTICK_RATE_MS constant. */
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132 #define mainCHECK_TIMER_PERIOD_MS ( 3000UL / portTICK_RATE_MS )
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134 /* The period at which the check timer will expire if an error has been
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135 reported in one of the standard demo tasks. ms are converted to the equivalent
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136 in ticks using the portTICK_RATE_MS constant. */
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137 #define mainERROR_CHECK_TIMER_PERIOD_MS ( 200UL / portTICK_RATE_MS )
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139 /* A block time of zero simply means "don't block". */
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140 #define mainDONT_BLOCK ( 0UL )
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142 /* The base toggle rate used by the flash timers. Each toggle rate is a
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143 multiple of this. */
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144 #define mainFLASH_TIMER_BASE_RATE ( 200UL / portTICK_RATE_MS )
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146 /* The LED toggle by the check timer. */
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147 #define mainCHECK_LED ( 3 )
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148 /*-----------------------------------------------------------*/
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151 * Register check tasks, as described at the top of this file. The nature of
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152 * these files necessitates that they are written in an assembly.
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154 extern void vRegTest1Task( void *pvParameters );
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155 extern void vRegTest2Task( void *pvParameters );
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158 * The hardware only has a single LED. Simply toggle it.
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160 extern void vMainToggleLED( void );
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163 * The check timer callback function, as described at the top of this file.
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165 static void prvCheckTimerCallback( xTimerHandle xTimer );
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168 * The flash timer callback function, as described at the top of this file.
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169 * This callback function is assigned to three separate software timers.
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171 static void prvFlashTimerCallback( xTimerHandle xTimer );
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174 * Called by main() to create the comprehensive test/demo application if
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175 * mainCREATE_SIMPLE_BLINKY_DEMO_ONLY is not set to 1.
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177 void main_full( void );
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179 /*-----------------------------------------------------------*/
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181 /* The following two variables are used to communicate the status of the
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182 register check tasks to the check software timer. If the variables keep
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183 incrementing, then the register check tasks has not discovered any errors. If
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184 a variable stops incrementing, then an error has been found. */
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185 volatile unsigned long ulRegTest1LoopCounter = 0UL, ulRegTest2LoopCounter = 0UL;
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187 /*-----------------------------------------------------------*/
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189 void main_full( void )
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191 xTimerHandle xTimer = NULL;
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192 unsigned long ulTimer;
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193 const unsigned long ulTimersToCreate = 3L;
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194 /* The register test tasks are asm functions that don't use a stack. The
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195 stack allocated just has to be large enough to hold the task context, and
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196 for the additional required for the stack overflow checking to work (if
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198 const size_t xRegTestStackSize = 25U;
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200 /* Create the standard demo tasks */
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201 vCreateBlockTimeTasks();
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202 vStartCountingSemaphoreTasks();
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203 vStartRecursiveMutexTasks();
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204 vStartDynamicPriorityTasks();
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206 /* Create the register test tasks as described at the top of this file.
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207 These are naked functions that don't use any stack. A stack still has
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208 to be allocated to hold the task context. */
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209 xTaskCreate( vRegTest1Task, /* Function that implements the task. */
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210 ( signed char * ) "Reg1", /* Text name of the task. */
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211 xRegTestStackSize, /* Stack allocated to the task. */
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212 NULL, /* The task parameter is not used. */
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213 tskIDLE_PRIORITY, /* The priority to assign to the task. */
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214 NULL ); /* Don't receive a handle back, it is not needed. */
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216 xTaskCreate( vRegTest2Task, /* Function that implements the task. */
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217 ( signed char * ) "Reg2", /* Text name of the task. */
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218 xRegTestStackSize, /* Stack allocated to the task. */
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219 NULL, /* The task parameter is not used. */
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220 tskIDLE_PRIORITY, /* The priority to assign to the task. */
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221 NULL ); /* Don't receive a handle back, it is not needed. */
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223 /* Create the three flash timers. */
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224 for( ulTimer = 0UL; ulTimer < ulTimersToCreate; ulTimer++ )
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226 xTimer = xTimerCreate( ( const signed char * ) "FlashTimer", /* A text name, purely to help debugging. */
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227 ( mainFLASH_TIMER_BASE_RATE * ( ulTimer + 1UL ) ), /* The timer period, in this case 3000ms (3s). */
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228 pdTRUE, /* This is an auto-reload timer, so xAutoReload is set to pdTRUE. */
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229 ( void * ) ulTimer, /* The ID is used to hold the number of the LED that will be flashed. */
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230 prvFlashTimerCallback /* The callback function that inspects the status of all the other tasks. */
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233 if( xTimer != NULL )
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235 xTimerStart( xTimer, mainDONT_BLOCK );
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239 /* Create the software timer that performs the 'check' functionality,
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240 as described at the top of this file. */
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241 xTimer = xTimerCreate( ( const signed char * ) "CheckTimer",/* A text name, purely to help debugging. */
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242 ( mainCHECK_TIMER_PERIOD_MS ), /* The timer period, in this case 3000ms (3s). */
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243 pdTRUE, /* This is an auto-reload timer, so xAutoReload is set to pdTRUE. */
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244 ( void * ) 0, /* The ID is not used, so can be set to anything. */
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245 prvCheckTimerCallback /* The callback function that inspects the status of all the other tasks. */
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248 /* If the software timer was created successfully, start it. It won't
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249 actually start running until the scheduler starts. A block time of
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250 zero is used in this call, although any value could be used as the block
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251 time will be ignored because the scheduler has not started yet. */
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252 if( xTimer != NULL )
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254 xTimerStart( xTimer, mainDONT_BLOCK );
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257 /* Start the kernel. From here on, only tasks and interrupts will run. */
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258 vTaskStartScheduler();
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260 /* If all is well, the scheduler will now be running, and the following
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261 line will never be reached. If the following line does execute, then there
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262 was insufficient FreeRTOS heap memory available for the idle and/or timer
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263 tasks to be created. See the memory management section on the FreeRTOS web
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264 site, or the FreeRTOS tutorial books for more details. */
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267 /*-----------------------------------------------------------*/
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269 /* See the description at the top of this file. */
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270 static void prvCheckTimerCallback( xTimerHandle xTimer )
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272 static long lChangedTimerPeriodAlready = pdFALSE;
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273 static unsigned long ulLastRegTest1Value = 0, ulLastRegTest2Value = 0;
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274 unsigned long ulErrorFound = pdFALSE;
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276 /* Check all the demo and test tasks to ensure that they are all still
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277 running, and that none have detected an error. */
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278 if( xAreDynamicPriorityTasksStillRunning() != pdPASS )
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280 ulErrorFound |= ( 0x01UL << 0UL );
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283 if( xAreBlockTimeTestTasksStillRunning() != pdPASS )
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285 ulErrorFound |= ( 0x01UL << 1UL );
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288 if( xAreCountingSemaphoreTasksStillRunning() != pdPASS )
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290 ulErrorFound |= ( 0x01UL << 2UL );
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293 if( xAreRecursiveMutexTasksStillRunning() != pdPASS )
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295 ulErrorFound |= ( 0x01UL << 3UL );
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298 /* Check that the register test 1 task is still running. */
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299 if( ulLastRegTest1Value == ulRegTest1LoopCounter )
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301 ulErrorFound |= ( 0x01UL << 4UL );
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303 ulLastRegTest1Value = ulRegTest1LoopCounter;
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305 /* Check that the register test 2 task is still running. */
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306 if( ulLastRegTest2Value == ulRegTest2LoopCounter )
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308 ulErrorFound |= ( 0x01UL << 5UL );
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310 ulLastRegTest2Value = ulRegTest2LoopCounter;
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312 /* Toggle the check LED to give an indication of the system status. If
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313 the LED toggles every mainCHECK_TIMER_PERIOD_MS milliseconds then
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314 everything is ok. A faster toggle indicates an error. */
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315 vParTestToggleLED( mainCHECK_LED );
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317 /* Have any errors been latched in ulErrorFound? If so, shorten the
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318 period of the check timer to mainERROR_CHECK_TIMER_PERIOD_MS milliseconds.
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319 This will result in an increase in the rate at which mainCHECK_LED
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321 if( ulErrorFound != pdFALSE )
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323 if( lChangedTimerPeriodAlready == pdFALSE )
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325 lChangedTimerPeriodAlready = pdTRUE;
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327 /* This call to xTimerChangePeriod() uses a zero block time.
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328 Functions called from inside of a timer callback function must
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329 *never* attempt to block. */
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330 xTimerChangePeriod( xTimer, ( mainERROR_CHECK_TIMER_PERIOD_MS ), mainDONT_BLOCK );
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334 /*-----------------------------------------------------------*/
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336 static void prvFlashTimerCallback( xTimerHandle xTimer )
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338 unsigned long ulLED;
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340 /* This callback function is assigned to three separate software timers.
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341 Each timer toggles a different LED. Obtain the number of the LED that
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342 this timer is toggling. */
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343 ulLED = ( unsigned long ) pvTimerGetTimerID( xTimer );
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345 /* Toggle the LED. */
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346 vParTestToggleLED( ulLED );
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