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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82 * >>>>>> NOTE 2: <<<<<<
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84 * In addition to the normal set of standard demo tasks, the comprehensive test
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85 * makes heavy use of the floating point unit, and forces floating point
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86 * instructions to be used from interrupts that nest three deep. The nesting
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87 * starts from the tick hook function, resulting is an abnormally long context
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88 * switch time. This is done purely to stress test the FPU context switching
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89 * implementation, and that part of the test can be removed by setting
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90 * configUSE_TICK_HOOK to 0 in FreeRTOSConfig.h.
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91 ******************************************************************************
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93 * main() creates all the demo application tasks and software timers, then starts
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94 * the scheduler. The web documentation provides more details of the standard
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95 * demo application tasks, which provide no particular functionality, but do
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96 * provide a good example of how to use the FreeRTOS API.
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98 * In addition to the standard demo tasks, the following tasks and tests are
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99 * defined and/or created within this file:
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101 * "Reg test" tasks - These fill both the core and floating point registers with
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102 * known values, then check that each register maintains its expected value for
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103 * the lifetime of the task. Each task uses a different set of values. The reg
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104 * test tasks execute with a very low priority, so get preempted very
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105 * frequently. A register containing an unexpected value is indicative of an
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106 * error in the context switching mechanism.
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108 * "Check" timer - The check software timer period is initially set to three
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109 * seconds. The callback function associated with the check software timer
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110 * checks that all the standard demo tasks, and the register check tasks, are
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111 * not only still executing, but are executing without reporting any errors. If
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112 * the check software timer discovers that a task has either stalled, or
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113 * reported an error, then it changes its own execution period from the initial
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114 * three seconds, to just 200ms. The check software timer callback function
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115 * also toggles an LED each time it is called. This provides a visual
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116 * indication of the system status: If the LED toggles every three seconds,
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117 * then no issues have been discovered. If the LED toggles every 200ms, then
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118 * an issue has been discovered with at least one task.
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120 * Tick hook - The application tick hook is called from the schedulers tick
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121 * interrupt service routine when configUSE_TICK_HOOK is set to 1 in
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122 * FreeRTOSConfig.h. In this example, the tick hook is used to test the kernels
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123 * handling of the floating point units (FPU) context, both at the task level
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124 * and when nesting interrupts access the floating point unit registers. The
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125 * tick hook function first fills the FPU registers with a known value, it
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126 * then triggers a medium priority interrupt. The medium priority interrupt
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127 * fills the FPU registers with a different value, and triggers a high priority
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128 * interrupt. The high priority interrupt once again fills the the FPU
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129 * registers with a known value before returning to the medium priority
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130 * interrupt. The medium priority interrupt checks that the FPU registers
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131 * contain the values that it wrote to them, then returns to the tick hook
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132 * function. Finally, the tick hook function checks that the FPU registers
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133 * contain the values that it wrote to them, before it too returns.
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135 * Button interrupt - The button marked "USER" on the starter kit is used to
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136 * demonstrate how to write an interrupt service routine, and how to synchronise
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137 * a task with an interrupt. A task is created that blocks on a test semaphore.
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138 * When the USER button is pressed, the button interrupt handler gives the
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139 * semaphore, causing the task to unblock. When the task unblocks, it simply
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140 * increments an execution count variable, then returns to block on the
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144 /* Kernel includes. */
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145 #include "FreeRTOS.h"
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147 #include "timers.h"
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148 #include "semphr.h"
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150 /* Demo application includes. */
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151 #include "partest.h"
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154 #include "integer.h"
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156 #include "semtest.h"
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157 #include "dynamic.h"
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158 #include "BlockQ.h"
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159 #include "blocktim.h"
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160 #include "countsem.h"
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161 #include "GenQTest.h"
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162 #include "recmutex.h"
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165 /* Hardware and starter kit includes. */
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166 #include "arm_comm.h"
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167 #include "iar_stm32f407zg_sk.h"
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168 #include "stm32f4xx.h"
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169 #include "stm32f4xx_conf.h"
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171 /* Priorities for the demo application tasks. */
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172 #define mainFLASH_TASK_PRIORITY ( tskIDLE_PRIORITY + 1UL )
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173 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2UL )
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174 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1UL )
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175 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2UL )
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176 #define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3UL )
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177 #define mainFLOP_TASK_PRIORITY ( tskIDLE_PRIORITY )
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179 /* The LED used by the check timer. */
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180 #define mainCHECK_LED ( 3UL )
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182 /* A block time of zero simply means "don't block". */
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183 #define mainDONT_BLOCK ( 0UL )
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185 /* The period after which the check timer will expire, in ms, provided no errors
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186 have been reported by any of the standard demo tasks. ms are converted to the
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187 equivalent in ticks using the portTICK_RATE_MS constant. */
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188 #define mainCHECK_TIMER_PERIOD_MS ( 3000UL / portTICK_RATE_MS )
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190 /* The period at which the check timer will expire, in ms, if an error has been
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191 reported in one of the standard demo tasks. ms are converted to the equivalent
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192 in ticks using the portTICK_RATE_MS constant. */
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193 #define mainERROR_CHECK_TIMER_PERIOD_MS ( 200UL / portTICK_RATE_MS )
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195 /* Set mainCREATE_SIMPLE_LED_FLASHER_DEMO_ONLY to 1 to create a simple demo.
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196 Set mainCREATE_SIMPLE_LED_FLASHER_DEMO_ONLY to 0 to create a much more
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197 comprehensive test application. See the comments at the top of this file, and
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198 the documentation page on the http://www.FreeRTOS.org web site for more
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200 #define mainCREATE_SIMPLE_LED_FLASHER_DEMO_ONLY 0
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202 /*-----------------------------------------------------------*/
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205 * Set up the hardware ready to run this demo.
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207 static void prvSetupHardware( void );
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210 * The check timer callback function, as described at the top of this file.
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212 static void prvCheckTimerCallback( xTimerHandle xTimer );
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215 * Configure the interrupts used to test the interrupt nesting depth as
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216 * described at the top of this file.
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218 static void prvSetupNestedFPUInterruptsTest( void );
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221 * Register check tasks, and the tasks used to write over and check the contents
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222 * of the FPU registers, as described at the top of this file. The nature of
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223 * these files necessitates that they are written in an assembly file.
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225 extern void vRegTest1Task( void *pvParameters );
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226 extern void vRegTest2Task( void *pvParameters );
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227 extern void vRegTestClearFlopRegistersToParameterValue( unsigned long ulValue );
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228 extern unsigned long ulRegTestCheckFlopRegistersContainParameterValue( unsigned long ulValue );
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231 * The task that is synchronised with the button interrupt. This is done just
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232 * to demonstrate how to write interrupt service routines, and how to
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233 * synchronise a task with an interrupt.
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235 static void prvButtonTestTask( void *pvParameters );
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238 * This file can be used to create either a simple LED flasher example, or a
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239 * comprehensive test/demo application - depending on the setting of the
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240 * mainCREATE_SIMPLE_LED_FLASHER_DEMO_ONLY constant defined above. If
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241 * mainCREATE_SIMPLE_LED_FLASHER_DEMO_ONLY is set to 1, then the following
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242 * function will create a lot of additional tasks and a software timer. If
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243 * mainCREATE_SIMPLE_LED_FLASHER_DEMO_ONLY is set to 0, then the following
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244 * function will do nothing.
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246 static void prvOptionallyCreateComprehensveTestApplication( void );
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248 /*-----------------------------------------------------------*/
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250 /* The following two variables are used to communicate the status of the
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251 register check tasks to the check software timer. If the variables keep
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252 incrementing, then the register check tasks has not discovered any errors. If
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253 a variable stops incrementing, then an error has been found. */
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254 volatile unsigned long ulRegTest1LoopCounter = 0UL, ulRegTest2LoopCounter = 0UL;
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256 /* The following variables are used to verify that the interrupt nesting depth
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257 is as intended. ulFPUInterruptNesting is incremented on entry to an interrupt
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258 that uses the FPU, and decremented on exit of the same interrupt.
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259 ulMaxFPUInterruptNesting latches the highest value reached by
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260 ulFPUInterruptNesting. These variables have no other purpose. */
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261 volatile unsigned long ulFPUInterruptNesting = 0UL, ulMaxFPUInterruptNesting = 0UL;
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263 /* The semaphore used to demonstrate a task being synchronised with an
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265 static xSemaphoreHandle xTestSemaphore = NULL;
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267 /* The variable that is incremented by the task synchronised with the button
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269 volatile unsigned long ulButtonPressCounts = 0UL;
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271 /*-----------------------------------------------------------*/
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275 /* Configure the hardware ready to run the test. */
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276 prvSetupHardware();
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278 /* Start standard demo/test application flash tasks. See the comments at
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279 the top of this file. The LED flash tasks are always created. The other
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280 tasks are only created if mainCREATE_SIMPLE_LED_FLASHER_DEMO_ONLY is set to
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281 0 (at the top of this file). See the comments at the top of this file for
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282 more information. */
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283 vStartLEDFlashTasks( mainFLASH_TASK_PRIORITY );
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285 /* The following function will only create more tasks and timers if
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286 mainCREATE_SIMPLE_LED_FLASHER_DEMO_ONLY is set to 0 (at the top of this
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287 file). See the comments at the top of this file for more information. */
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288 prvOptionallyCreateComprehensveTestApplication();
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290 /* Start the scheduler. */
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291 vTaskStartScheduler();
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293 /* If all is well, the scheduler will now be running, and the following line
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294 will never be reached. If the following line does execute, then there was
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295 insufficient FreeRTOS heap memory available for the idle and/or timer tasks
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296 to be created. See the memory management section on the FreeRTOS web site
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297 for more details. */
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300 /*-----------------------------------------------------------*/
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302 static void prvCheckTimerCallback( xTimerHandle xTimer )
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304 static long lChangedTimerPeriodAlready = pdFALSE;
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305 static unsigned long ulLastRegTest1Value = 0, ulLastRegTest2Value = 0;
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306 long lErrorFound = pdFALSE;
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308 /* Check all the demo tasks (other than the flash tasks) to ensure
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309 that they are all still running, and that none have detected an error. */
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311 if( xAreMathsTaskStillRunning() != pdTRUE )
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313 lErrorFound = pdTRUE;
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316 if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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318 lErrorFound = pdTRUE;
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321 if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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323 lErrorFound = pdTRUE;
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326 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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328 lErrorFound = pdTRUE;
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331 if ( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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333 lErrorFound = pdTRUE;
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336 if ( xAreGenericQueueTasksStillRunning() != pdTRUE )
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338 lErrorFound = pdTRUE;
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341 if ( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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343 lErrorFound = pdTRUE;
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346 if( xIsCreateTaskStillRunning() != pdTRUE )
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348 lErrorFound = pdTRUE;
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351 if( xArePollingQueuesStillRunning() != pdTRUE )
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353 lErrorFound = pdTRUE;
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356 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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358 lErrorFound = pdTRUE;
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361 /* Check that the register test 1 task is still running. */
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362 if( ulLastRegTest1Value == ulRegTest1LoopCounter )
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364 lErrorFound = pdTRUE;
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366 ulLastRegTest1Value = ulRegTest1LoopCounter;
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368 /* Check that the register test 2 task is still running. */
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369 if( ulLastRegTest2Value == ulRegTest2LoopCounter )
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371 lErrorFound = pdTRUE;
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373 ulLastRegTest2Value = ulRegTest2LoopCounter;
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375 /* Toggle the check LED to give an indication of the system status. If
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376 the LED toggles every mainCHECK_TIMER_PERIOD_MS milliseconds then
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377 everything is ok. A faster toggle indicates an error. */
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378 vParTestToggleLED( mainCHECK_LED );
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380 /* Have any errors been latch in lErrorFound? If so, shorten the
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381 period of the check timer to mainERROR_CHECK_TIMER_PERIOD_MS milliseconds.
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382 This will result in an increase in the rate at which mainCHECK_LED
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384 if( lErrorFound != pdFALSE )
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386 if( lChangedTimerPeriodAlready == pdFALSE )
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388 lChangedTimerPeriodAlready = pdTRUE;
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390 /* This call to xTimerChangePeriod() uses a zero block time.
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391 Functions called from inside of a timer callback function must
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392 *never* attempt to block. */
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393 xTimerChangePeriod( xTimer, ( mainERROR_CHECK_TIMER_PERIOD_MS ), mainDONT_BLOCK );
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397 /*-----------------------------------------------------------*/
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399 static void prvButtonTestTask( void *pvParameters )
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401 configASSERT( xTestSemaphore );
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403 /* This is the task used as an example of how to synchronise a task with
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404 an interrupt. Each time the button interrupt gives the semaphore, this task
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405 will unblock, increment its execution counter, then return to block
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408 /* Take the semaphore before started to ensure it is in the correct
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410 xSemaphoreTake( xTestSemaphore, mainDONT_BLOCK );
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414 xSemaphoreTake( xTestSemaphore, portMAX_DELAY );
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415 ulButtonPressCounts++;
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418 /*-----------------------------------------------------------*/
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420 static void prvSetupHardware( void )
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422 /* Setup STM32 system (clock, PLL and Flash configuration) */
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425 /* Ensure all priority bits are assigned as preemption priority bits. */
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426 NVIC_PriorityGroupConfig( NVIC_PriorityGroup_4 );
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428 /* Setup the LED outputs. */
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429 vParTestInitialise();
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431 /* Configure the button input. This configures the interrupt to use the
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432 lowest interrupt priority, so it is ok to use the ISR safe FreeRTOS API
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433 from the button interrupt handler. */
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434 STM_EVAL_PBInit( BUTTON_USER, BUTTON_MODE_EXTI );
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436 /*-----------------------------------------------------------*/
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438 void vApplicationTickHook( void )
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440 #if ( mainCREATE_SIMPLE_LED_FLASHER_DEMO_ONLY == 0 )
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442 /* Just to verify that the interrupt nesting behaves as expected,
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443 increment ulFPUInterruptNesting on entry, and decrement it on exit. */
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444 ulFPUInterruptNesting++;
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446 /* Fill the FPU registers with 0. */
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447 vRegTestClearFlopRegistersToParameterValue( 0UL );
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449 /* Trigger a timer 2 interrupt, which will fill the registers with a
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450 different value and itself trigger a timer 3 interrupt. Note that the
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451 timers are not actually used. The timer 2 and 3 interrupt vectors are
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452 just used for convenience. */
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453 NVIC_SetPendingIRQ( TIM2_IRQn );
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455 /* Ensure that, after returning from the nested interrupts, all the FPU
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456 registers contain the value to which they were set by the tick hook
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458 configASSERT( ulRegTestCheckFlopRegistersContainParameterValue( 0UL ) );
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460 ulFPUInterruptNesting--;
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464 /*-----------------------------------------------------------*/
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466 static void prvSetupNestedFPUInterruptsTest( void )
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468 NVIC_InitTypeDef NVIC_InitStructure;
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470 /* Enable the TIM2 interrupt in the NVIC. The timer itself is not used,
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471 just its interrupt vector to force nesting from software. TIM2 must have
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472 a lower priority than TIM3, and both must have priorities above
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473 configMAX_SYSCALL_INTERRUPT_PRIORITY. */
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474 NVIC_InitStructure.NVIC_IRQChannel = TIM2_IRQn;
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475 NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY - 1;
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476 NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
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477 NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
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478 NVIC_Init( &NVIC_InitStructure );
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480 /* Enable the TIM3 interrupt in the NVIC. The timer itself is not used,
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481 just its interrupt vector to force nesting from software. TIM2 must have
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482 a lower priority than TIM3, and both must have priorities above
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483 configMAX_SYSCALL_INTERRUPT_PRIORITY. */
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484 NVIC_InitStructure.NVIC_IRQChannel = TIM3_IRQn;
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485 NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY - 2;
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486 NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
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487 NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
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488 NVIC_Init( &NVIC_InitStructure );
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490 /*-----------------------------------------------------------*/
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492 void TIM3_IRQHandler( void )
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494 /* Just to verify that the interrupt nesting behaves as expected, increment
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495 ulFPUInterruptNesting on entry, and decrement it on exit. */
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496 ulFPUInterruptNesting++;
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498 /* This is the highest priority interrupt in the chain of forced nesting
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499 interrupts, so latch the maximum value reached by ulFPUInterruptNesting.
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500 This is done purely to allow verification that the nesting depth reaches
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502 if( ulFPUInterruptNesting > ulMaxFPUInterruptNesting )
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504 ulMaxFPUInterruptNesting = ulFPUInterruptNesting;
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507 /* Fill the FPU registers with 99 to overwrite the values written by
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508 TIM2_IRQHandler(). */
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509 vRegTestClearFlopRegistersToParameterValue( 99UL );
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511 ulFPUInterruptNesting--;
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513 /*-----------------------------------------------------------*/
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515 void TIM2_IRQHandler( void )
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517 /* Just to verify that the interrupt nesting behaves as expected, increment
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518 ulFPUInterruptNesting on entry, and decrement it on exit. */
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519 ulFPUInterruptNesting++;
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521 /* Fill the FPU registers with 1. */
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522 vRegTestClearFlopRegistersToParameterValue( 1UL );
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524 /* Trigger a timer 3 interrupt, which will fill the registers with a
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525 different value. */
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526 NVIC_SetPendingIRQ( TIM3_IRQn );
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528 /* Ensure that, after returning from the nesting interrupt, all the FPU
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529 registers contain the value to which they were set by this interrupt
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531 configASSERT( ulRegTestCheckFlopRegistersContainParameterValue( 1UL ) );
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533 ulFPUInterruptNesting--;
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535 /*-----------------------------------------------------------*/
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537 static void prvOptionallyCreateComprehensveTestApplication( void )
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539 #if ( mainCREATE_SIMPLE_LED_FLASHER_DEMO_ONLY == 0 )
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541 xTimerHandle xCheckTimer = NULL;
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543 /* Configure the interrupts used to test FPU registers being used from
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544 nested interrupts. */
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545 prvSetupNestedFPUInterruptsTest();
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547 /* Start all the other standard demo/test tasks. */
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548 vStartIntegerMathTasks( tskIDLE_PRIORITY );
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549 vStartDynamicPriorityTasks();
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550 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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551 vCreateBlockTimeTasks();
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552 vStartCountingSemaphoreTasks();
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553 vStartGenericQueueTasks( tskIDLE_PRIORITY );
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554 vStartRecursiveMutexTasks();
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555 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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556 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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558 /* Most importantly, start the tasks that use the FPU. */
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559 vStartMathTasks( mainFLOP_TASK_PRIORITY );
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561 /* Create the register check tasks, as described at the top of this
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563 xTaskCreate( vRegTest1Task, ( signed char * ) "Reg1", configMINIMAL_STACK_SIZE, ( void * ) NULL, tskIDLE_PRIORITY, NULL );
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564 xTaskCreate( vRegTest2Task, ( signed char * ) "Reg2", configMINIMAL_STACK_SIZE, ( void * ) NULL, tskIDLE_PRIORITY, NULL );
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566 /* Create the semaphore that is used to demonstrate a task being
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567 synchronised with an interrupt. */
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568 vSemaphoreCreateBinary( xTestSemaphore );
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570 /* Create the task that is unblocked by the demonstration interrupt. */
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571 xTaskCreate( prvButtonTestTask, ( signed char * ) "BtnTest", configMINIMAL_STACK_SIZE, ( void * ) NULL, tskIDLE_PRIORITY, NULL );
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573 /* Create the software timer that performs the 'check' functionality,
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574 as described at the top of this file. */
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575 xCheckTimer = xTimerCreate( ( const signed char * ) "CheckTimer",/* A text name, purely to help debugging. */
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576 ( mainCHECK_TIMER_PERIOD_MS ), /* The timer period, in this case 3000ms (3s). */
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577 pdTRUE, /* This is an auto-reload timer, so xAutoReload is set to pdTRUE. */
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578 ( void * ) 0, /* The ID is not used, so can be set to anything. */
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579 prvCheckTimerCallback /* The callback function that inspects the status of all the other tasks. */
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582 if( xCheckTimer != NULL )
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584 xTimerStart( xCheckTimer, mainDONT_BLOCK );
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587 /* This task has to be created last as it keeps account of the number of
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588 tasks it expects to see running. */
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589 vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
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591 #else /* mainCREATE_SIMPLE_LED_FLASHER_DEMO_ONLY */
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593 /* Just to prevent compiler warnings when the configuration options are
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594 set such that these static functions are not used. */
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595 ( void ) vRegTest1Task;
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596 ( void ) vRegTest2Task;
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597 ( void ) prvCheckTimerCallback;
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598 ( void ) prvSetupNestedFPUInterruptsTest;
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600 #endif /* mainCREATE_SIMPLE_LED_FLASHER_DEMO_ONLY */
\r
602 /*-----------------------------------------------------------*/
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604 void EXTI9_5_IRQHandler(void)
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606 long lHigherPriorityTaskWoken = pdFALSE;
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608 /* Only line 6 is enabled, so there is no need to test which line generated
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610 EXTI_ClearITPendingBit( EXTI_Line6 );
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612 /* This interrupt does nothing more than demonstrate how to synchronise a
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613 task with an interrupt. First the handler releases a semaphore.
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614 lHigherPriorityTaskWoken has been initialised to zero. */
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615 xSemaphoreGiveFromISR( xTestSemaphore, &lHigherPriorityTaskWoken );
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617 /* If there was a task that was blocked on the semaphore, and giving the
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618 semaphore caused the task to unblock, and the unblocked task has a priority
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619 higher than the currently executing task (the task that this interrupt
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620 interrupted), then lHigherPriorityTaskWoken will have been set to pdTRUE.
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621 Passing pdTRUE into the following macro call will cause this interrupt to
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622 return directly to the unblocked, higher priority, task. */
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623 portEND_SWITCHING_ISR( lHigherPriorityTaskWoken );
\r
625 /*-----------------------------------------------------------*/
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627 void vApplicationMallocFailedHook( void )
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629 /* vApplicationMallocFailedHook() will only be called if
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630 configUSE_MALLOC_FAILED_HOOK is set to 1 in FreeRTOSConfig.h. It is a hook
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631 function that will get called if a call to pvPortMalloc() fails.
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632 pvPortMalloc() is called internally by the kernel whenever a task, queue,
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633 timer or semaphore is created. It is also called by various parts of the
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634 demo application. If heap_1.c or heap_2.c are used, then the size of the
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635 heap available to pvPortMalloc() is defined by configTOTAL_HEAP_SIZE in
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636 FreeRTOSConfig.h, and the xPortGetFreeHeapSize() API function can be used
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637 to query the size of free heap space that remains (although it does not
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638 provide information on how the remaining heap might be fragmented). */
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639 taskDISABLE_INTERRUPTS();
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642 /*-----------------------------------------------------------*/
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644 void vApplicationIdleHook( void )
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646 /* vApplicationIdleHook() will only be called if configUSE_IDLE_HOOK is set
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647 to 1 in FreeRTOSConfig.h. It will be called on each iteration of the idle
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648 task. It is essential that code added to this hook function never attempts
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649 to block in any way (for example, call xQueueReceive() with a block time
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650 specified, or call vTaskDelay()). If the application makes use of the
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651 vTaskDelete() API function (as this demo application does) then it is also
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652 important that vApplicationIdleHook() is permitted to return to its calling
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653 function, because it is the responsibility of the idle task to clean up
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654 memory allocated by the kernel to any task that has since been deleted. */
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656 /*-----------------------------------------------------------*/
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658 void vApplicationStackOverflowHook( xTaskHandle pxTask, signed char *pcTaskName )
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660 ( void ) pcTaskName;
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663 /* Run time stack overflow checking is performed if
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664 configCHECK_FOR_STACK_OVERFLOW is defined to 1 or 2. This hook
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665 function is called if a stack overflow is detected. */
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666 taskDISABLE_INTERRUPTS();
\r
669 /*-----------------------------------------------------------*/
\r