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: <<<<<<
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70 * main() can be configured to create either a very simple LED flasher demo, or
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71 * a more comprehensive test/demo application.
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73 * To create a very simple LED flasher example, set the
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74 * mainCREATE_SIMPLE_LED_FLASHER_DEMO_ONLY constant (defined below) to 1. When
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75 * this is done, only the standard demo flash tasks are created. The standard
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76 * demo flash example creates three tasks, each of which toggle an LED at a
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77 * fixed but different frequency.
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79 * To create a more comprehensive test and demo application, set
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80 * mainCREATE_SIMPLE_LED_FLASHER_DEMO_ONLY to 0.
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81 ******************************************************************************
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83 * main() creates all the demo application tasks and software timers, then starts
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84 * the scheduler. The web documentation provides more details of the standard
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85 * demo application tasks, which provide no particular functionality, but do
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86 * provide a good example of how to use the FreeRTOS API.
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88 * In addition to the standard demo tasks, the following tasks and tests are
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89 * defined and/or created within this file:
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91 * "Reg test" tasks - These fill both the core and floating point registers with
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92 * known values, then check that each register maintains its expected value for
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93 * the lifetime of the task. Each task uses a different set of values. The reg
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94 * test tasks execute with a very low priority, so get preempted very
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95 * frequently. A register containing an unexpected value is indicative of an
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96 * error in the context switching mechanism.
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98 * "Check" timer - The check software timer period is initially set to three
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99 * seconds. The callback function associated with the check software timer
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100 * checks that all the standard demo tasks, and the register check tasks, are
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101 * not only still executing, but are executing without reporting any errors. If
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102 * the check software timer discovers that a task has either stalled, or
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103 * reported an error, then it changes its own execution period from the initial
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104 * three seconds, to just 200ms. The check software timer callback function
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105 * also toggles an LED each time it is called. This provides a visual
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106 * indication of the system status: If the LED toggles every three seconds,
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107 * then no issues have been discovered. If the LED toggles every 200ms, then
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108 * an issue has been discovered with at least one task.
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111 /* Standard includes. */
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114 /* Kernel includes. */
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115 #include "FreeRTOS.h"
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117 #include "timers.h"
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118 #include "semphr.h"
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120 /* Demo application includes. */
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121 #include "partest.h"
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124 #include "integer.h"
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126 #include "semtest.h"
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127 #include "dynamic.h"
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128 #include "BlockQ.h"
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129 #include "blocktim.h"
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130 #include "countsem.h"
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131 #include "GenQTest.h"
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132 #include "recmutex.h"
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135 /* Hardware includes. */
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136 #include "platform_config.h"
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138 /* Priorities for the demo application tasks. */
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139 #define mainFLASH_TASK_PRIORITY ( tskIDLE_PRIORITY + 1UL )
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140 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2UL )
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141 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1UL )
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142 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2UL )
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143 #define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3UL )
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144 #define mainFLOP_TASK_PRIORITY ( tskIDLE_PRIORITY )
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146 /* The LED used by the check timer. */
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147 #define mainCHECK_LED ( 3UL )
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149 /* A block time of zero simply means "don't block". */
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150 #define mainDONT_BLOCK ( 0UL )
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152 /* The period after which the check timer will expire, in ms, provided no errors
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153 have been reported by any of the standard demo tasks. ms are converted to the
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154 equivalent in ticks using the portTICK_RATE_MS constant. */
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155 #define mainCHECK_TIMER_PERIOD_MS ( 3000UL / portTICK_RATE_MS )
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157 /* The period at which the check timer will expire, in ms, if an error has been
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158 reported in one of the standard demo tasks. ms are converted to the equivalent
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159 in ticks using the portTICK_RATE_MS constant. */
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160 #define mainERROR_CHECK_TIMER_PERIOD_MS ( 200UL / portTICK_RATE_MS )
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162 /* Set mainCREATE_SIMPLE_LED_FLASHER_DEMO_ONLY to 1 to create a simple demo.
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163 Set mainCREATE_SIMPLE_LED_FLASHER_DEMO_ONLY to 0 to create a much more
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164 comprehensive test application. See the comments at the top of this file, and
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165 the documentation page on the http://www.FreeRTOS.org web site for more
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167 #define mainCREATE_SIMPLE_LED_FLASHER_DEMO_ONLY 0
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169 /*-----------------------------------------------------------*/
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172 * Set up the hardware ready to run this demo.
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174 static void prvSetupHardware( void );
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177 * The check timer callback function, as described at the top of this file.
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179 static void prvCheckTimerCallback( xTimerHandle xTimer );
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182 * Register check tasks, and the tasks used to write over and check the contents
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183 * of the FPU registers, as described at the top of this file. The nature of
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184 * these files necessitates that they are written in an assembly file.
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186 extern void vRegTest1Task( void *pvParameters );
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187 extern void vRegTest2Task( void *pvParameters );
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188 extern void vRegTestClearFlopRegistersToParameterValue( unsigned long ulValue );
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189 extern unsigned long ulRegTestCheckFlopRegistersContainParameterValue( unsigned long ulValue );
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192 * This file can be used to create either a simple LED flasher example, or a
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193 * comprehensive test/demo application - depending on the setting of the
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194 * mainCREATE_SIMPLE_LED_FLASHER_DEMO_ONLY constant defined above. If
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195 * mainCREATE_SIMPLE_LED_FLASHER_DEMO_ONLY is set to 1, then the following
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196 * function will create a lot of additional tasks and a software timer. If
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197 * mainCREATE_SIMPLE_LED_FLASHER_DEMO_ONLY is set to 0, then the following
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198 * function will do nothing.
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200 static void prvOptionallyCreateComprehensveTestApplication( void );
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202 /*-----------------------------------------------------------*/
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204 /* The following two variables are used to communicate the status of the
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205 register check tasks to the check software timer. If the variables keep
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206 incrementing, then the register check tasks has not discovered any errors. If
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207 a variable stops incrementing, then an error has been found. */
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208 volatile unsigned long ulRegTest1LoopCounter = 0UL, ulRegTest2LoopCounter = 0UL;
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210 /*-----------------------------------------------------------*/
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214 /* Configure the hardware ready to run the test. */
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215 prvSetupHardware();
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217 /* Start standard demo/test application flash tasks. See the comments at
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218 the top of this file. The LED flash tasks are always created. The other
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219 tasks are only created if mainCREATE_SIMPLE_LED_FLASHER_DEMO_ONLY is set to
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220 0 (at the top of this file). See the comments at the top of this file for
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221 more information. */
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222 vStartLEDFlashTasks( mainFLASH_TASK_PRIORITY );
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224 /* The following function will only create more tasks and timers if
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225 mainCREATE_SIMPLE_LED_FLASHER_DEMO_ONLY is set to 0 (at the top of this
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226 file). See the comments at the top of this file for more information. */
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227 prvOptionallyCreateComprehensveTestApplication();
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229 /* Start the scheduler. */
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230 vTaskStartScheduler();
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232 /* Infinite loop */
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235 /*-----------------------------------------------------------*/
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237 static void prvCheckTimerCallback( xTimerHandle xTimer )
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239 static long lChangedTimerPeriodAlready = pdFALSE;
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240 static unsigned long ulLastRegTest1Value = 0, ulLastRegTest2Value = 0;
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241 unsigned long ulErrorFound = pdFALSE;
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243 /* Check all the demo tasks (other than the flash tasks) to ensure
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244 that they are all still running, and that none have detected an error. */
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246 if( xAreMathsTaskStillRunning() != pdTRUE )
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248 ulErrorFound |= 0x01UL << 0UL;
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251 if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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253 ulErrorFound |= 0x01UL << 1UL;
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256 if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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258 ulErrorFound |= 0x01UL << 2UL;
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261 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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263 ulErrorFound |= 0x01UL << 3UL;
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266 if ( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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268 ulErrorFound |= 0x01UL << 4UL;
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271 if ( xAreGenericQueueTasksStillRunning() != pdTRUE )
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273 ulErrorFound |= 0x01UL << 5UL;
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276 if ( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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278 ulErrorFound |= 0x01UL << 6UL;
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281 if( xIsCreateTaskStillRunning() != pdTRUE )
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283 ulErrorFound |= 0x01UL << 7UL;
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286 if( xArePollingQueuesStillRunning() != pdTRUE )
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288 ulErrorFound |= 0x01UL << 8UL;
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291 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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293 ulErrorFound |= 0x01UL << 9UL;
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296 /* Check that the register test 1 task is still running. */
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297 if( ulLastRegTest1Value == ulRegTest1LoopCounter )
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299 ulErrorFound |= 0x01UL << 10UL;
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301 ulLastRegTest1Value = ulRegTest1LoopCounter;
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303 /* Check that the register test 2 task is still running. */
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304 if( ulLastRegTest2Value == ulRegTest2LoopCounter )
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306 ulErrorFound |= 0x01UL << 11UL;
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308 ulLastRegTest2Value = ulRegTest2LoopCounter;
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310 /* Toggle the check LED to give an indication of the system status. If
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311 the LED toggles every mainCHECK_TIMER_PERIOD_MS milliseconds then
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312 everything is ok. A faster toggle indicates an error. */
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313 vParTestToggleLED( mainCHECK_LED );
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315 /* Have any errors been latch in ulErrorFound? If so, shorten the
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316 period of the check timer to mainERROR_CHECK_TIMER_PERIOD_MS milliseconds.
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317 This will result in an increase in the rate at which mainCHECK_LED
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319 if( ulErrorFound != pdFALSE )
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321 if( lChangedTimerPeriodAlready == pdFALSE )
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323 lChangedTimerPeriodAlready = pdTRUE;
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325 /* This call to xTimerChangePeriod() uses a zero block time.
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326 Functions called from inside of a timer callback function must
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327 *never* attempt to block. */
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328 xTimerChangePeriod( xTimer, ( mainERROR_CHECK_TIMER_PERIOD_MS ), mainDONT_BLOCK );
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332 /*-----------------------------------------------------------*/
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334 static void prvSetupHardware( void )
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336 extern void Hitex_CGU_Init( void );
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338 /* Setup system (clock, PLL and Flash configuration) */
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341 /* Wind the clock speed up in steps to its maximum. */
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344 /* Ensure all priority bits are assigned as preemption priority bits. */
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345 NVIC_SetPriorityGrouping( 0 );
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347 /* Setup the LED outputs. */
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348 vParTestInitialise();
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350 /*-----------------------------------------------------------*/
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352 static void prvOptionallyCreateComprehensveTestApplication( void )
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354 #if ( mainCREATE_SIMPLE_LED_FLASHER_DEMO_ONLY == 0 )
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356 xTimerHandle xCheckTimer = NULL;
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358 /* Start all the other standard demo/test tasks. */
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359 vStartIntegerMathTasks( tskIDLE_PRIORITY );
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360 vStartDynamicPriorityTasks();
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361 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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362 vCreateBlockTimeTasks();
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363 vStartCountingSemaphoreTasks();
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364 vStartGenericQueueTasks( tskIDLE_PRIORITY );
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365 vStartRecursiveMutexTasks();
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366 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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367 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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369 /* Most importantly, start the tasks that use the FPU. */
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370 vStartMathTasks( mainFLOP_TASK_PRIORITY );
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372 /* Create the register check tasks, as described at the top of this
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374 xTaskCreate( vRegTest1Task, ( signed char * ) "Reg1", configMINIMAL_STACK_SIZE, ( void * ) NULL, tskIDLE_PRIORITY, NULL );
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375 xTaskCreate( vRegTest2Task, ( signed char * ) "Reg2", configMINIMAL_STACK_SIZE, ( void * ) NULL, tskIDLE_PRIORITY, NULL );
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377 /* Create the software timer that performs the 'check' functionality,
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378 as described at the top of this file. */
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379 xCheckTimer = xTimerCreate( ( const signed char * ) "CheckTimer",/* A text name, purely to help debugging. */
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380 ( mainCHECK_TIMER_PERIOD_MS ), /* The timer period, in this case 3000ms (3s). */
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381 pdTRUE, /* This is an auto-reload timer, so xAutoReload is set to pdTRUE. */
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382 ( void * ) 0, /* The ID is not used, so can be set to anything. */
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383 prvCheckTimerCallback /* The callback function that inspects the status of all the other tasks. */
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386 if( xCheckTimer != NULL )
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388 xTimerStart( xCheckTimer, mainDONT_BLOCK );
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391 /* This task has to be created last as it keeps account of the number of
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392 tasks it expects to see running. */
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393 vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
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395 #else /* mainCREATE_SIMPLE_LED_FLASHER_DEMO_ONLY */
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397 /* Just to prevent compiler warnings when the configuration options are
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398 set such that these static functions are not used. */
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399 ( void ) vRegTest1Task;
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400 ( void ) vRegTest2Task;
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401 ( void ) prvCheckTimerCallback;
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402 ( void ) prvSetupNestedFPUInterruptsTest;
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404 #endif /* mainCREATE_SIMPLE_LED_FLASHER_DEMO_ONLY */
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406 /*-----------------------------------------------------------*/
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408 void vApplicationMallocFailedHook( void )
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410 /* vApplicationMallocFailedHook() will only be called if
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411 configUSE_MALLOC_FAILED_HOOK is set to 1 in FreeRTOSConfig.h. It is a hook
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412 function that will get called if a call to pvPortMalloc() fails.
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413 pvPortMalloc() is called internally by the kernel whenever a task, queue,
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414 timer or semaphore is created. It is also called by various parts of the
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415 demo application. If heap_1.c or heap_2.c are used, then the size of the
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416 heap available to pvPortMalloc() is defined by configTOTAL_HEAP_SIZE in
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417 FreeRTOSConfig.h, and the xPortGetFreeHeapSize() API function can be used
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418 to query the size of free heap space that remains (although it does not
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419 provide information on how the remaining heap might be fragmented). */
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420 taskDISABLE_INTERRUPTS();
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423 /*-----------------------------------------------------------*/
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425 void vApplicationIdleHook( void )
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427 /* vApplicationIdleHook() will only be called if configUSE_IDLE_HOOK is set
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428 to 1 in FreeRTOSConfig.h. It will be called on each iteration of the idle
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429 task. It is essential that code added to this hook function never attempts
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430 to block in any way (for example, call xQueueReceive() with a block time
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431 specified, or call vTaskDelay()). If the application makes use of the
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432 vTaskDelete() API function (as this demo application does) then it is also
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433 important that vApplicationIdleHook() is permitted to return to its calling
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434 function, because it is the responsibility of the idle task to clean up
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435 memory allocated by the kernel to any task that has since been deleted. */
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437 /*-----------------------------------------------------------*/
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439 void vApplicationStackOverflowHook( xTaskHandle pxTask, signed char *pcTaskName )
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441 ( void ) pcTaskName;
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444 /* Run time stack overflow checking is performed if
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445 configCHECK_FOR_STACK_OVERFLOW is defined to 1 or 2. This hook
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446 function is called if a stack overflow is detected. */
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447 taskDISABLE_INTERRUPTS();
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450 /*-----------------------------------------------------------*/
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452 void vApplicationTickHook( void )
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454 /* This function will be called by each tick interrupt if
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455 configUSE_TICK_HOOK is set to 1 in FreeRTOSConfig.h. User code can be
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456 added here, but the tick hook is called from an interrupt context, so
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457 code must not attempt to block, and only the interrupt safe FreeRTOS API
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458 functions can be used (those that end in FromISR()). */
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460 /*-----------------------------------------------------------*/
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