2 FreeRTOS V7.3.0 - Copyright (C) 2012 Real Time Engineers Ltd.
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4 FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME. PLEASE VISIT
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5 http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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7 ***************************************************************************
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9 * FreeRTOS tutorial books are available in pdf and paperback. *
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10 * Complete, revised, and edited pdf reference manuals are also *
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13 * Purchasing FreeRTOS documentation will not only help you, by *
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14 * ensuring you get running as quickly as possible and with an *
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15 * in-depth knowledge of how to use FreeRTOS, it will also help *
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16 * the FreeRTOS project to continue with its mission of providing *
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17 * professional grade, cross platform, de facto standard solutions *
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18 * for microcontrollers - completely free of charge! *
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20 * >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
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22 * Thank you for using FreeRTOS, and thank you for your support! *
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24 ***************************************************************************
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27 This file is part of the FreeRTOS distribution.
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29 FreeRTOS is free software; you can redistribute it and/or modify it under
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30 the terms of the GNU General Public License (version 2) as published by the
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31 Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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32 >>>NOTE<<< The modification to the GPL is included to allow you to
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33 distribute a combined work that includes FreeRTOS without being obliged to
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34 provide the source code for proprietary components outside of the FreeRTOS
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35 kernel. FreeRTOS is distributed in the hope that it will be useful, but
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36 WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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37 or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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38 more details. You should have received a copy of the GNU General Public
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39 License and the FreeRTOS license exception along with FreeRTOS; if not it
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40 can be viewed here: http://www.freertos.org/a00114.html and also obtained
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41 by writing to Richard Barry, contact details for whom are available on the
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46 ***************************************************************************
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48 * Having a problem? Start by reading the FAQ "My application does *
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49 * not run, what could be wrong?" *
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51 * http://www.FreeRTOS.org/FAQHelp.html *
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53 ***************************************************************************
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56 http://www.FreeRTOS.org - Documentation, training, latest versions, license
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57 and contact details.
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59 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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60 including FreeRTOS+Trace - an indispensable productivity tool.
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62 Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell
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63 the code with commercial support, indemnification, and middleware, under
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64 the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also
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65 provide a safety engineered and independently SIL3 certified version under
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66 the SafeRTOS brand: http://www.SafeRTOS.com.
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69 /******************************************************************************
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70 * >>>>>> NOTE 1: <<<<<<
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72 * main() can be configured to create either a very simple LED flasher demo, or
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73 * a more comprehensive test/demo application.
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75 * To create a very simple LED flasher example, set the
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76 * mainCREATE_SIMPLE_LED_FLASHER_DEMO_ONLY constant (defined below) to 1. When
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77 * this is done, only the standard demo flash tasks are created. The standard
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78 * demo flash example creates three tasks, each of which toggle an LED at a
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79 * fixed but different frequency.
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81 * To create a more comprehensive test and demo application, set
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82 * mainCREATE_SIMPLE_LED_FLASHER_DEMO_ONLY to 0.
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83 ******************************************************************************
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85 * main() creates all the demo application tasks and software timers, then starts
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86 * the scheduler. The web documentation provides more details of the standard
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87 * demo application tasks, which provide no particular functionality, but do
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88 * provide a good example of how to use the FreeRTOS API.
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90 * In addition to the standard demo tasks, the following tasks and tests are
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91 * defined and/or created within this file:
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93 * "Reg test" tasks - These fill both the core and floating point registers with
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94 * known values, then check that each register maintains its expected value for
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95 * the lifetime of the task. Each task uses a different set of values. The reg
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96 * test tasks execute with a very low priority, so get preempted very
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97 * frequently. A register containing an unexpected value is indicative of an
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98 * error in the context switching mechanism.
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100 * "Check" timer - The check software timer period is initially set to three
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101 * seconds. The callback function associated with the check software timer
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102 * checks that all the standard demo tasks, and the register check tasks, are
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103 * not only still executing, but are executing without reporting any errors. If
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104 * the check software timer discovers that a task has either stalled, or
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105 * reported an error, then it changes its own execution period from the initial
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106 * three seconds, to just 200ms. The check software timer callback function
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107 * also toggles an LED 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 /* Standard includes. */
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116 /* Kernel includes. */
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117 #include "FreeRTOS.h"
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119 #include "timers.h"
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120 #include "semphr.h"
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122 /* Demo application includes. */
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123 #include "partest.h"
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126 #include "integer.h"
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128 #include "semtest.h"
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129 #include "dynamic.h"
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130 #include "BlockQ.h"
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131 #include "blocktim.h"
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132 #include "countsem.h"
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133 #include "GenQTest.h"
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134 #include "recmutex.h"
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137 /* Hardware includes. */
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138 #include "platform_config.h"
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140 /* Priorities for the demo application tasks. */
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141 #define mainFLASH_TASK_PRIORITY ( tskIDLE_PRIORITY + 1UL )
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142 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2UL )
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143 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1UL )
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144 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2UL )
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145 #define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3UL )
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146 #define mainFLOP_TASK_PRIORITY ( tskIDLE_PRIORITY )
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148 /* The LED used by the check timer. */
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149 #define mainCHECK_LED ( 3UL )
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151 /* A block time of zero simply means "don't block". */
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152 #define mainDONT_BLOCK ( 0UL )
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154 /* The period after which the check timer will expire, in ms, provided no errors
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155 have been reported by any of the standard demo tasks. ms are converted to the
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156 equivalent in ticks using the portTICK_RATE_MS constant. */
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157 #define mainCHECK_TIMER_PERIOD_MS ( 3000UL / portTICK_RATE_MS )
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159 /* The period at which the check timer will expire, in ms, if an error has been
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160 reported in one of the standard demo tasks. ms are converted to the equivalent
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161 in ticks using the portTICK_RATE_MS constant. */
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162 #define mainERROR_CHECK_TIMER_PERIOD_MS ( 200UL / portTICK_RATE_MS )
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164 /* Set mainCREATE_SIMPLE_LED_FLASHER_DEMO_ONLY to 1 to create a simple demo.
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165 Set mainCREATE_SIMPLE_LED_FLASHER_DEMO_ONLY to 0 to create a much more
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166 comprehensive test application. See the comments at the top of this file, and
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167 the documentation page on the http://www.FreeRTOS.org web site for more
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169 #define mainCREATE_SIMPLE_LED_FLASHER_DEMO_ONLY 0
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171 /*-----------------------------------------------------------*/
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174 * Set up the hardware ready to run this demo.
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176 static void prvSetupHardware( void );
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179 * The check timer callback function, as described at the top of this file.
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181 static void prvCheckTimerCallback( xTimerHandle xTimer );
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184 * Register check tasks, and the tasks used to write over and check the contents
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185 * of the FPU registers, as described at the top of this file. The nature of
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186 * these files necessitates that they are written in an assembly file.
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188 extern void vRegTest1Task( void *pvParameters );
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189 extern void vRegTest2Task( void *pvParameters );
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190 extern void vRegTestClearFlopRegistersToParameterValue( unsigned long ulValue );
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191 extern unsigned long ulRegTestCheckFlopRegistersContainParameterValue( unsigned long ulValue );
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194 * This file can be used to create either a simple LED flasher example, or a
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195 * comprehensive test/demo application - depending on the setting of the
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196 * mainCREATE_SIMPLE_LED_FLASHER_DEMO_ONLY constant defined above. If
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197 * mainCREATE_SIMPLE_LED_FLASHER_DEMO_ONLY is set to 1, then the following
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198 * function will create a lot of additional tasks and a software timer. If
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199 * mainCREATE_SIMPLE_LED_FLASHER_DEMO_ONLY is set to 0, then the following
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200 * function will do nothing.
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202 static void prvOptionallyCreateComprehensveTestApplication( void );
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204 /*-----------------------------------------------------------*/
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206 /* The following two variables are used to communicate the status of the
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207 register check tasks to the check software timer. If the variables keep
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208 incrementing, then the register check tasks has not discovered any errors. If
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209 a variable stops incrementing, then an error has been found. */
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210 volatile unsigned long ulRegTest1LoopCounter = 0UL, ulRegTest2LoopCounter = 0UL;
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212 /*-----------------------------------------------------------*/
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216 /* Configure the hardware ready to run the test. */
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217 prvSetupHardware();
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219 /* Start standard demo/test application flash tasks. See the comments at
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220 the top of this file. The LED flash tasks are always created. The other
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221 tasks are only created if mainCREATE_SIMPLE_LED_FLASHER_DEMO_ONLY is set to
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222 0 (at the top of this file). See the comments at the top of this file for
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223 more information. */
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224 vStartLEDFlashTasks( mainFLASH_TASK_PRIORITY );
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226 /* The following function will only create more tasks and timers if
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227 mainCREATE_SIMPLE_LED_FLASHER_DEMO_ONLY is set to 0 (at the top of this
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228 file). See the comments at the top of this file for more information. */
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229 prvOptionallyCreateComprehensveTestApplication();
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231 /* Start the scheduler. */
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232 vTaskStartScheduler();
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234 /* Infinite loop */
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237 /*-----------------------------------------------------------*/
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239 static void prvCheckTimerCallback( xTimerHandle xTimer )
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241 static long lChangedTimerPeriodAlready = pdFALSE;
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242 static unsigned long ulLastRegTest1Value = 0, ulLastRegTest2Value = 0;
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243 unsigned long ulErrorFound = pdFALSE;
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245 /* Check all the demo tasks (other than the flash tasks) to ensure
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246 that they are all still running, and that none have detected an error. */
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248 if( xAreMathsTaskStillRunning() != pdTRUE )
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250 ulErrorFound |= 0x01UL << 0UL;
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253 if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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255 ulErrorFound |= 0x01UL << 1UL;
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258 if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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260 ulErrorFound |= 0x01UL << 2UL;
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263 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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265 ulErrorFound |= 0x01UL << 3UL;
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268 if ( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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270 ulErrorFound |= 0x01UL << 4UL;
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273 if ( xAreGenericQueueTasksStillRunning() != pdTRUE )
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275 ulErrorFound |= 0x01UL << 5UL;
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278 if ( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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280 ulErrorFound |= 0x01UL << 6UL;
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283 if( xIsCreateTaskStillRunning() != pdTRUE )
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285 ulErrorFound |= 0x01UL << 7UL;
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288 if( xArePollingQueuesStillRunning() != pdTRUE )
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290 ulErrorFound |= 0x01UL << 8UL;
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293 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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295 ulErrorFound |= 0x01UL << 9UL;
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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 << 10UL;
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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 << 11UL;
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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 latch 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 prvSetupHardware( void )
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338 extern void Hitex_CGU_Init( void );
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340 /* Setup system (clock, PLL and Flash configuration) */
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343 /* Wind the clock speed up in steps to its maximum. */
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346 /* Ensure all priority bits are assigned as preemption priority bits. */
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347 NVIC_SetPriorityGrouping( 0 );
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349 /* Setup the LED outputs. */
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350 vParTestInitialise();
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352 /*-----------------------------------------------------------*/
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354 static void prvOptionallyCreateComprehensveTestApplication( void )
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356 #if ( mainCREATE_SIMPLE_LED_FLASHER_DEMO_ONLY == 0 )
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358 xTimerHandle xCheckTimer = NULL;
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360 /* Start all the other standard demo/test tasks. */
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361 vStartIntegerMathTasks( tskIDLE_PRIORITY );
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362 vStartDynamicPriorityTasks();
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363 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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364 vCreateBlockTimeTasks();
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365 vStartCountingSemaphoreTasks();
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366 vStartGenericQueueTasks( tskIDLE_PRIORITY );
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367 vStartRecursiveMutexTasks();
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368 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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369 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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371 /* Most importantly, start the tasks that use the FPU. */
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372 vStartMathTasks( mainFLOP_TASK_PRIORITY );
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374 /* Create the register check tasks, as described at the top of this
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376 xTaskCreate( vRegTest1Task, ( signed char * ) "Reg1", configMINIMAL_STACK_SIZE, ( void * ) NULL, tskIDLE_PRIORITY, NULL );
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377 xTaskCreate( vRegTest2Task, ( signed char * ) "Reg2", configMINIMAL_STACK_SIZE, ( void * ) NULL, tskIDLE_PRIORITY, NULL );
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379 /* Create the software timer that performs the 'check' functionality,
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380 as described at the top of this file. */
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381 xCheckTimer = xTimerCreate( ( const signed char * ) "CheckTimer",/* A text name, purely to help debugging. */
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382 ( mainCHECK_TIMER_PERIOD_MS ), /* The timer period, in this case 3000ms (3s). */
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383 pdTRUE, /* This is an auto-reload timer, so xAutoReload is set to pdTRUE. */
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384 ( void * ) 0, /* The ID is not used, so can be set to anything. */
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385 prvCheckTimerCallback /* The callback function that inspects the status of all the other tasks. */
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388 if( xCheckTimer != NULL )
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390 xTimerStart( xCheckTimer, mainDONT_BLOCK );
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393 /* This task has to be created last as it keeps account of the number of
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394 tasks it expects to see running. */
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395 vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
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397 #else /* mainCREATE_SIMPLE_LED_FLASHER_DEMO_ONLY */
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399 /* Just to prevent compiler warnings when the configuration options are
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400 set such that these static functions are not used. */
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401 ( void ) vRegTest1Task;
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402 ( void ) vRegTest2Task;
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403 ( void ) prvCheckTimerCallback;
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404 ( void ) prvSetupNestedFPUInterruptsTest;
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406 #endif /* mainCREATE_SIMPLE_LED_FLASHER_DEMO_ONLY */
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408 /*-----------------------------------------------------------*/
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410 void vApplicationMallocFailedHook( void )
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412 /* vApplicationMallocFailedHook() will only be called if
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413 configUSE_MALLOC_FAILED_HOOK is set to 1 in FreeRTOSConfig.h. It is a hook
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414 function that will get called if a call to pvPortMalloc() fails.
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415 pvPortMalloc() is called internally by the kernel whenever a task, queue,
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416 timer or semaphore is created. It is also called by various parts of the
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417 demo application. If heap_1.c or heap_2.c are used, then the size of the
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418 heap available to pvPortMalloc() is defined by configTOTAL_HEAP_SIZE in
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419 FreeRTOSConfig.h, and the xPortGetFreeHeapSize() API function can be used
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420 to query the size of free heap space that remains (although it does not
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421 provide information on how the remaining heap might be fragmented). */
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422 taskDISABLE_INTERRUPTS();
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425 /*-----------------------------------------------------------*/
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427 void vApplicationIdleHook( void )
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429 /* vApplicationIdleHook() will only be called if configUSE_IDLE_HOOK is set
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430 to 1 in FreeRTOSConfig.h. It will be called on each iteration of the idle
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431 task. It is essential that code added to this hook function never attempts
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432 to block in any way (for example, call xQueueReceive() with a block time
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433 specified, or call vTaskDelay()). If the application makes use of the
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434 vTaskDelete() API function (as this demo application does) then it is also
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435 important that vApplicationIdleHook() is permitted to return to its calling
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436 function, because it is the responsibility of the idle task to clean up
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437 memory allocated by the kernel to any task that has since been deleted. */
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439 /*-----------------------------------------------------------*/
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441 void vApplicationStackOverflowHook( xTaskHandle pxTask, signed char *pcTaskName )
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443 ( void ) pcTaskName;
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446 /* Run time stack overflow checking is performed if
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447 configCHECK_FOR_STACK_OVERFLOW is defined to 1 or 2. This hook
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448 function is called if a stack overflow is detected. */
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449 taskDISABLE_INTERRUPTS();
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452 /*-----------------------------------------------------------*/
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454 void vApplicationTickHook( void )
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456 /* This function will be called by each tick interrupt if
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457 configUSE_TICK_HOOK is set to 1 in FreeRTOSConfig.h. User code can be
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458 added here, but the tick hook is called from an interrupt context, so
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459 code must not attempt to block, and only the interrupt safe FreeRTOS API
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460 functions can be used (those that end in FromISR()). */
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462 /*-----------------------------------------------------------*/
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