2 * FreeRTOS Kernel V10.0.0
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3 * Copyright (C) 2017 Amazon.com, Inc. or its affiliates. All Rights Reserved.
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5 * Permission is hereby granted, free of charge, to any person obtaining a copy of
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6 * this software and associated documentation files (the "Software"), to deal in
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7 * the Software without restriction, including without limitation the rights to
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8 * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
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9 * the Software, and to permit persons to whom the Software is furnished to do so,
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10 * subject to the following conditions:
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12 * The above copyright notice and this permission notice shall be included in all
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13 * copies or substantial portions of the Software. If you wish to use our Amazon
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14 * FreeRTOS name, please do so in a fair use way that does not cause confusion.
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16 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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17 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
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18 * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
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19 * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
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20 * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
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21 * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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23 * http://www.FreeRTOS.org
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24 * http://aws.amazon.com/freertos
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26 * 1 tab == 4 spaces!
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29 /******************************************************************************
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30 * NOTE 1: This project provides two demo applications. A simple blinky
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31 * style project, and a more comprehensive test and demo application. The
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32 * mainSELECTED_APPLICATION setting in main.c is used to select between the two.
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33 * See the notes on using mainSELECTED_APPLICATION in main.c. This file
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34 * implements the comprehensive version.
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36 * NOTE 2: This file only contains the source code that is specific to the
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37 * full demo. Generic functions, such FreeRTOS hook functions, and functions
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38 * required to configure the hardware, are defined in main.c.
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40 * NOTE 3: The full demo includes a test that checks the floating point context
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41 * is maintained correctly across task switches. The standard GCC libraries can
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42 * use floating point registers and made this test fail (unless the tasks that
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43 * use the library are given a floating point context as described on the
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44 * documentation page for this demo).
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46 ******************************************************************************
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48 * main_full() creates all the demo application tasks and software timers, then
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49 * starts the scheduler. The web documentation provides more details of the
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50 * standard demo application tasks, which provide no particular functionality,
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51 * but do provide a good example of how to use the FreeRTOS API.
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53 * In addition to the standard demo tasks, the following tasks and tests are
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54 * defined and/or created within this file:
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56 * "Reg test" tasks - These fill both the core and floating point registers with
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57 * known values, then check that each register maintains its expected value for
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58 * the lifetime of the task. Each task uses a different set of values. The reg
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59 * test tasks execute with a very low priority, so get preempted very
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60 * frequently. A register containing an unexpected value is indicative of an
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61 * error in the context switching mechanism.
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63 * "Check" task - The check task period is set to five seconds. Each time it
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64 * executes it checks all the standard demo tasks, and the register check tasks,
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65 * are not only still executing, but are executing without reporting any errors,
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66 * then outputs the system status to the UART.
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69 /* Standard includes. */
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72 /* Kernel includes. */
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73 #include "FreeRTOS.h"
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78 /* Standard demo application includes. */
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80 #include "semtest.h"
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81 #include "dynamic.h"
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82 #include "blocktim.h"
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83 #include "countsem.h"
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84 #include "GenQTest.h"
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85 #include "recmutex.h"
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86 #include "IntQueue.h"
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87 #include "EventGroupsDemo.h"
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88 #include "TaskNotify.h"
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89 #include "IntSemTest.h"
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90 #include "StaticAllocation.h"
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91 #include "AbortDelay.h"
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92 #include "QueueOverwrite.h"
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93 #include "TimerDemo.h"
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95 /* Xilinx includes. */
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96 #include "xil_printf.h"
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98 /* Priorities for the demo application tasks. */
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99 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + ( UBaseType_t ) 1 )
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100 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + ( UBaseType_t ) 2 )
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101 #define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + ( UBaseType_t ) 3 )
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102 #define mainFLOP_TASK_PRIORITY ( tskIDLE_PRIORITY )
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103 #define mainUART_COMMAND_CONSOLE_STACK_SIZE ( configMINIMAL_STACK_SIZE * ( UBaseType_t ) 3 )
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104 #define mainCOM_TEST_TASK_PRIORITY ( tskIDLE_PRIORITY + ( UBaseType_t ) 2 )
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105 #define mainCHECK_TASK_PRIORITY ( configMAX_PRIORITIES - ( UBaseType_t ) 1 )
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106 #define mainQUEUE_OVERWRITE_PRIORITY ( tskIDLE_PRIORITY )
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108 /* A block time of zero simply means "don't block". */
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109 #define mainDONT_BLOCK ( ( TickType_t ) 0 )
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111 /* The period of the check task, in ms. */
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112 #define mainNO_ERROR_CHECK_TASK_PERIOD pdMS_TO_TICKS( ( TickType_t ) 5000 )
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114 /* Parameters that are passed into the register check tasks solely for the
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115 purpose of ensuring parameters are passed into tasks correctly. */
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116 #define mainREG_TEST_TASK_1_PARAMETER ( ( void * ) 0x12345678 )
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117 #define mainREG_TEST_TASK_2_PARAMETER ( ( void * ) 0x87654321 )
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119 /* The base period used by the timer test tasks. */
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120 #define mainTIMER_TEST_PERIOD ( 50 )
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122 /*-----------------------------------------------------------*/
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126 * The check task, as described at the top of this file.
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128 static void prvCheckTask( void *pvParameters );
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131 * Register check tasks, and the tasks used to write over and check the contents
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132 * of the FPU registers, as described at the top of this file. The nature of
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133 * these files necessitates that they are written in an assembly file, but the
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134 * entry points are kept in the C file for the convenience of checking the task
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137 static void prvRegTestTaskEntry1( void *pvParameters );
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138 extern void vRegTest1Implementation( void );
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139 static void prvRegTestTaskEntry2( void *pvParameters );
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140 extern void vRegTest2Implementation( void );
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143 * Register commands that can be used with FreeRTOS+CLI. The commands are
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144 * defined in CLI-Commands.c and File-Related-CLI-Command.c respectively.
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146 extern void vRegisterSampleCLICommands( void );
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149 * The task that manages the FreeRTOS+CLI input and output.
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151 extern void vUARTCommandConsoleStart( uint16_t usStackSize, UBaseType_t uxPriority );
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154 * A high priority task that does nothing other than execute at a pseudo random
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155 * time to ensure the other test tasks don't just execute in a repeating
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158 static void prvPseudoRandomiser( void *pvParameters );
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161 * The full demo uses the tick hook function to include test code in the tick
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162 * interrupt. vFullDemoTickHook() is called by vApplicationTickHook(), which
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163 * is defined in main.c.
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165 void vFullDemoTickHook( void );
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167 /*-----------------------------------------------------------*/
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169 /* The following two variables are used to communicate the status of the
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170 register check tasks to the check task. If the variables keep incrementing,
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171 then the register check tasks have not discovered any errors. If a variable
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172 stops incrementing, then an error has been found. */
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173 volatile uint32_t ulRegTest1LoopCounter = 0UL, ulRegTest2LoopCounter = 0UL;
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175 /*-----------------------------------------------------------*/
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177 void main_full( void )
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179 /* Start all the other standard demo/test tasks. They have no particular
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180 functionality, but do demonstrate how to use the FreeRTOS API and test the
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182 vStartInterruptQueueTasks();
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183 vStartDynamicPriorityTasks();
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184 vCreateBlockTimeTasks();
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185 vStartCountingSemaphoreTasks();
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186 vStartGenericQueueTasks( tskIDLE_PRIORITY );
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187 vStartRecursiveMutexTasks();
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188 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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189 vStartMathTasks( mainFLOP_TASK_PRIORITY );
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190 vStartEventGroupTasks();
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191 vStartTaskNotifyTask();
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192 vStartInterruptSemaphoreTasks();
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193 vStartStaticallyAllocatedTasks();
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194 vCreateAbortDelayTasks();
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195 vStartQueueOverwriteTask( mainQUEUE_OVERWRITE_PRIORITY );
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196 vStartTimerDemoTask( mainTIMER_TEST_PERIOD );
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198 /* Create the register check tasks, as described at the top of this file */
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199 xTaskCreate( prvRegTestTaskEntry1, "Reg1", configMINIMAL_STACK_SIZE, mainREG_TEST_TASK_1_PARAMETER, tskIDLE_PRIORITY, NULL );
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200 xTaskCreate( prvRegTestTaskEntry2, "Reg2", configMINIMAL_STACK_SIZE, mainREG_TEST_TASK_2_PARAMETER, tskIDLE_PRIORITY, NULL );
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202 /* Create the task that just adds a little random behaviour. */
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203 xTaskCreate( prvPseudoRandomiser, "Rnd", configMINIMAL_STACK_SIZE, NULL, configMAX_PRIORITIES - 1, NULL );
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205 /* Create the task that performs the 'check' functionality, as described at
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206 the top of this file. */
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207 xTaskCreate( prvCheckTask, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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209 /* Start the scheduler. */
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210 vTaskStartScheduler();
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212 /* If all is well, the scheduler will now be running, and the following
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213 line will never be reached. If the following line does execute, then
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214 there was either insufficient FreeRTOS heap memory available for the idle
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215 and/or timer tasks to be created, or vTaskStartScheduler() was called from
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216 User mode. See the memory management section on the FreeRTOS web site for
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217 more details on the FreeRTOS heap http://www.freertos.org/a00111.html. The
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218 mode from which main() is called is set in the C start up code and must be
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219 a privileged mode (not user mode). */
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222 /*-----------------------------------------------------------*/
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224 static void prvCheckTask( void *pvParameters )
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226 TickType_t xDelayPeriod = mainNO_ERROR_CHECK_TASK_PERIOD;
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227 TickType_t xLastExecutionTime;
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228 static uint32_t ulLastRegTest1Value = 0, ulLastRegTest2Value = 0;
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229 uint32_t ulErrorFound = pdFALSE;
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230 const char *pcStatusString = "Pass";
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232 /* Just to stop compiler warnings. */
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233 ( void ) pvParameters;
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235 /* Initialise xLastExecutionTime so the first call to vTaskDelayUntil()
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236 works correctly. */
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237 xLastExecutionTime = xTaskGetTickCount();
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239 /* Cycle for ever, delaying then checking all the other tasks are still
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240 operating without error. The system status is written to the UART on each
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244 /* Delay until it is time to execute again. */
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245 vTaskDelayUntil( &xLastExecutionTime, xDelayPeriod );
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247 /* Check all the demo tasks (other than the flash tasks) to ensure
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248 that they are all still running, and that none have detected an error. */
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249 if( xAreIntQueueTasksStillRunning() != pdTRUE )
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251 ulErrorFound |= 1UL << 0UL;
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252 pcStatusString = "Error: IntQ";
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255 if( xAreMathsTaskStillRunning() != pdTRUE )
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257 ulErrorFound |= 1UL << 1UL;
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258 pcStatusString = "Error: Math";
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261 if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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263 ulErrorFound |= 1UL << 2UL;
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264 pcStatusString = "Error: Dynamic";
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267 if ( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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269 ulErrorFound |= 1UL << 4UL;
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270 pcStatusString = "Error: Block Time";
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273 if ( xAreGenericQueueTasksStillRunning() != pdTRUE )
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275 ulErrorFound |= 1UL << 5UL;
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276 pcStatusString = "Error: Generic Queue";
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279 if ( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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281 ulErrorFound |= 1UL << 6UL;
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282 pcStatusString = "Error: Recursive Mutex";
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285 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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287 ulErrorFound |= 1UL << 8UL;
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288 pcStatusString = "Error: Semaphore";
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291 if( xAreCountingSemaphoreTasksStillRunning() != pdTRUE )
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293 ulErrorFound |= 1UL << 10UL;
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294 pcStatusString = "Error: Counting Semaphore";
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297 if( xAreEventGroupTasksStillRunning() != pdPASS )
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299 ulErrorFound |= 1UL << 12UL;
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300 pcStatusString = "Error: Event Group";
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303 if( xAreTaskNotificationTasksStillRunning() != pdTRUE )
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305 ulErrorFound |= 1UL << 13UL;
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306 pcStatusString = "Error: Task Notifications";
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309 if( xAreInterruptSemaphoreTasksStillRunning() != pdTRUE )
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311 ulErrorFound |= 1UL << 14UL;
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312 pcStatusString = "Error: Interrupt Semaphore";
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315 if( xAreStaticAllocationTasksStillRunning() != pdTRUE )
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317 ulErrorFound |= 1UL << 15UL;
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318 pcStatusString = "Error: Static Allocation";
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321 if( xAreAbortDelayTestTasksStillRunning() != pdTRUE )
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323 ulErrorFound |= 1UL << 16UL;
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324 pcStatusString = "Error: Abort Delay";
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327 if( xIsQueueOverwriteTaskStillRunning() != pdTRUE )
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329 ulErrorFound |= 1UL << 17UL;
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330 pcStatusString = "Error: Queue Overwrite";
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333 if( xAreTimerDemoTasksStillRunning( xDelayPeriod ) != pdTRUE )
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335 ulErrorFound |= 1UL << 18UL;
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336 pcStatusString = "Error: Timer Demo";
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339 /* Check that the register test 1 task is still running. */
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340 if( ulLastRegTest1Value == ulRegTest1LoopCounter )
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342 ulErrorFound |= 1UL << 19UL;
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343 pcStatusString = "Error: Reg Test 1";
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345 ulLastRegTest1Value = ulRegTest1LoopCounter;
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347 /* Check that the register test 2 task is still running. */
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348 if( ulLastRegTest2Value == ulRegTest2LoopCounter )
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350 ulErrorFound |= 1UL << 20UL;
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351 pcStatusString = "Error: Reg Test 2";
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353 ulLastRegTest2Value = ulRegTest2LoopCounter;
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355 /* Output the system status string. */
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356 xil_printf( "%s, status code = %lu, tick count = %lu\r\n", pcStatusString, ulErrorFound, xTaskGetTickCount() );
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358 configASSERT( ulErrorFound == pdFALSE );
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361 /*-----------------------------------------------------------*/
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363 static void prvRegTestTaskEntry1( void *pvParameters )
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365 /* Although the regtest task is written in assembler, its entry point is
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366 written in C for convenience of checking the task parameter is being passed
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368 if( pvParameters == mainREG_TEST_TASK_1_PARAMETER )
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370 /* The reg test task also tests the floating point registers. Tasks
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371 that use the floating point unit must call vPortTaskUsesFPU() before
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372 any floating point instructions are executed. */
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373 vPortTaskUsesFPU();
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375 /* Start the part of the test that is written in assembler. */
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376 vRegTest1Implementation();
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379 /* The following line will only execute if the task parameter is found to
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380 be incorrect. The check task will detect that the regtest loop counter is
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381 not being incremented and flag an error. */
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382 vTaskDelete( NULL );
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384 /*-----------------------------------------------------------*/
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386 static void prvRegTestTaskEntry2( void *pvParameters )
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388 /* Although the regtest task is written in assembler, its entry point is
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389 written in C for convenience of checking the task parameter is being passed
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391 if( pvParameters == mainREG_TEST_TASK_2_PARAMETER )
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393 /* The reg test task also tests the floating point registers. Tasks
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394 that use the floating point unit must call vPortTaskUsesFPU() before
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395 any floating point instructions are executed. */
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396 vPortTaskUsesFPU();
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398 /* Start the part of the test that is written in assembler. */
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399 vRegTest2Implementation();
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402 /* The following line will only execute if the task parameter is found to
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403 be incorrect. The check task will detect that the regtest loop counter is
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404 not being incremented and flag an error. */
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405 vTaskDelete( NULL );
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407 /*-----------------------------------------------------------*/
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409 static void prvPseudoRandomiser( void *pvParameters )
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411 const uint32_t ulMultiplier = 0x015a4e35UL, ulIncrement = 1UL, ulMinDelay = pdMS_TO_TICKS( 95 );
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412 volatile uint32_t ulNextRand = ( uint32_t ) &pvParameters, ulValue;
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414 /* This task does nothing other than ensure there is a little bit of
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415 disruption in the scheduling pattern of the other tasks. Normally this is
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416 done by generating interrupts at pseudo random times. */
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419 ulNextRand = ( ulMultiplier * ulNextRand ) + ulIncrement;
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420 ulValue = ( ulNextRand >> 16UL ) & 0xffUL;
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422 if( ulValue < ulMinDelay )
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424 ulValue = ulMinDelay;
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427 vTaskDelay( ulValue );
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429 while( ulValue > 0 )
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431 __asm volatile( "NOP" );
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432 __asm volatile( "NOP" );
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433 __asm volatile( "NOP" );
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434 __asm volatile( "NOP" );
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439 /*-----------------------------------------------------------*/
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441 void vFullDemoTickHook( void )
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443 /* The full demo includes a software timer demo/test that requires
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444 prodding periodically from the tick interrupt. */
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445 vTimerPeriodicISRTests();
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447 /* Call the periodic queue overwrite from ISR demo. */
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448 vQueueOverwritePeriodicISRDemo();
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450 /* Call the periodic event group from ISR demo. */
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451 vPeriodicEventGroupsProcessing();
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453 /* Call the ISR component of the interrupt semaphore test. */
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454 vInterruptSemaphorePeriodicTest();
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456 /* Call the code that 'gives' a task notification from an ISR. */
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457 xNotifyTaskFromISR();
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459 /* Test flop alignment in interrupts - calling printf from an interrupt
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461 #if( configASSERT_DEFINED == 1 )
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464 UBaseType_t uxSavedInterruptStatus;
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466 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
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468 sprintf( cBuf, "%1.3f", 1.234 );
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470 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
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472 configASSERT( strcmp( cBuf, "1.234" ) == 0 );
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474 #endif /* configASSERT_DEFINED */
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