2 FreeRTOS V7.4.0 - Copyright (C) 2013 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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33 >>>>>>NOTE<<<<<< The modification to the GPL is included to allow you to
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34 distribute a combined work that includes FreeRTOS without being obliged to
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35 provide the source code for proprietary components outside of the FreeRTOS
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38 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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39 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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40 FOR A PARTICULAR PURPOSE. See the GNU General Public License for more
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41 details. You should have received a copy of the GNU General Public License
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42 and the FreeRTOS license exception along with FreeRTOS; if not itcan be
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43 viewed here: http://www.freertos.org/a00114.html and also obtained by
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44 writing to Real Time Engineers Ltd., contact details for whom are available
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45 on the FreeRTOS WEB site.
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49 ***************************************************************************
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51 * Having a problem? Start by reading the FAQ "My application does *
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52 * not run, what could be wrong?" *
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54 * http://www.FreeRTOS.org/FAQHelp.html *
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56 ***************************************************************************
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59 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
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60 license and Real Time Engineers Ltd. contact details.
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62 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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63 including FreeRTOS+Trace - an indispensable productivity tool, and our new
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64 fully thread aware and reentrant UDP/IP stack.
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66 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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67 Integrity Systems, who sell the code with commercial support,
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68 indemnification and middleware, under the OpenRTOS brand.
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70 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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71 engineered and independently SIL3 certified version for use in safety and
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72 mission critical applications that require provable dependability.
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76 * Creates the demo application tasks, then starts the scheduler. The WEB
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77 * documentation provides more details of the demo application tasks.
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79 * Main. c also creates four other tasks:
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82 * This only executes every few seconds but has the highest priority so is
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83 * guaranteed to get processor time. Its main function is to check that all
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84 * the standard demo application tasks are still operational and have not
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85 * experienced any errors. vErrorChecks() will toggle the on board LED
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86 * every mainNO_ERROR_FLASH_PERIOD milliseconds if none of the demo application
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87 * tasks have reported an error. Should any task report an error at any time
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88 * the rate at which the on board LED is toggled is increased to
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89 * mainERROR_FLASH_PERIOD - providing visual feedback that something has gone
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92 * 2) vRegisterCheck()
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93 * This is a very simple task that checks that all the registers are always
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94 * in their expected state. The task only makes use of the A register, so
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95 * all the other registers should always contain their initial values.
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96 * An incorrect value indicates an error in the context switch mechanism.
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97 * The task operates at the idle priority so will be preempted regularly.
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98 * Any error will cause the toggle rate of the on board LED to increase to
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99 * mainERROR_FLASH_PERIOD milliseconds.
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101 * 3 and 4) vFLOPCheck1() and vFLOPCheck2()
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102 * These are very basic versions of the standard FLOP tasks. They are good
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103 * at detecting errors in the context switch mechanism, and also check that
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104 * the floating point libraries are correctly built to be re-enterant. The
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105 * stack restrictions of the 8051 prevent the use of the standard FLOP demo
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109 /* Standard includes. */
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110 #include <stdlib.h>
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112 /* Scheduler includes. */
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113 #include "FreeRTOS.h"
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116 /* Demo application includes. */
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117 #include "partest.h"
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119 #include "integer.h"
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121 #include "comtest2.h"
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122 #include "semtest.h"
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124 /* Demo task priorities. */
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125 #define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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126 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
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127 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
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128 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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129 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
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130 #define mainINTEGER_PRIORITY tskIDLE_PRIORITY
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132 /* Constants required to disable the watchdog. */
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133 #define mainDISABLE_BYTE_1 ( ( unsigned char ) 0xde )
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134 #define mainDISABLE_BYTE_2 ( ( unsigned char ) 0xad )
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136 /* Constants to setup and use the on board LED. */
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137 #define ucLED_BIT ( ( unsigned char ) 0x40 )
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138 #define mainPORT_1_BIT_6 ( ( unsigned char ) 0x40 )
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139 #define mainENABLE_CROSS_BAR ( ( unsigned char ) 0x40 )
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141 /* Constants to set the clock frequency. */
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142 #define mainSELECT_INTERNAL_OSC ( ( unsigned char ) 0x80 )
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143 #define mainDIVIDE_CLOCK_BY_1 ( ( unsigned char ) 0x03 )
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144 #define mainPLL_USES_INTERNAL_OSC ( ( unsigned char ) 0x04 )
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145 #define mainFLASH_READ_TIMING ( ( unsigned char ) 0x30 )
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146 #define mainPLL_POWER_ON ( ( unsigned char ) 0x01 )
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147 #define mainPLL_NO_PREDIVIDE ( ( unsigned char ) 0x01 )
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148 #define mainPLL_FILTER ( ( unsigned char ) 0x01 )
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149 #define mainPLL_MULTIPLICATION ( ( unsigned char ) 0x04 )
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150 #define mainENABLE_PLL ( ( unsigned char ) 0x02 )
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151 #define mainPLL_LOCKED ( ( unsigned char ) 0x10 )
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152 #define mainSELECT_PLL_AS_SOURCE ( ( unsigned char ) 0x02 )
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154 /* Toggle rate for the on board LED - which is dependent on whether or not
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155 an error has been detected. */
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156 #define mainNO_ERROR_FLASH_PERIOD ( ( portTickType ) 5000 )
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157 #define mainERROR_FLASH_PERIOD ( ( portTickType ) 250 )
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159 /* Baud rate used by the serial port tasks. */
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160 #define mainCOM_TEST_BAUD_RATE ( ( unsigned long ) 115200 )
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162 /* Pass an invalid LED number to the COM test task as we don't want it to flash
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163 an LED. There are only 8 LEDs (excluding the on board LED) wired in and these
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164 are all used by the flash tasks. */
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165 #define mainCOM_TEST_LED ( 200 )
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167 /* We want the Cygnal to act as much as possible as a standard 8052. */
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168 #define mainAUTO_SFR_OFF ( ( unsigned char ) 0 )
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170 /* Constants required to setup the IO pins for serial comms. */
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171 #define mainENABLE_COMS ( ( unsigned char ) 0x04 )
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172 #define mainCOMS_LINES_TO_PUSH_PULL ( ( unsigned char ) 0x03 )
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174 /* Pointer passed as a parameter to vRegisterCheck() just so it has some know
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175 values to check for in the DPH, DPL and B registers. */
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176 #define mainDUMMY_POINTER ( ( xdata void * ) 0xabcd )
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178 /* Macro that lets vErrorChecks() know that one of the tasks defined in
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179 main. c has detected an error. A critical region is used around xLatchError
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180 as it is accessed from vErrorChecks(), which has a higher priority. */
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181 #define mainLATCH_ERROR() \
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183 portENTER_CRITICAL(); \
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184 xLatchedError = pdTRUE; \
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185 portEXIT_CRITICAL(); \
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189 * Setup the Cygnal microcontroller for its fastest operation.
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191 static void prvSetupSystemClock( void );
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194 * Setup the peripherals, including the on board LED.
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196 static void prvSetupHardware( void );
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199 * Toggle the state of the on board LED.
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201 static void prvToggleOnBoardLED( void );
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204 * See comments at the top of the file for details.
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206 static void vErrorChecks( void *pvParameters );
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209 * See comments at the top of the file for details.
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211 static void vRegisterCheck( void *pvParameters );
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214 * See comments at the top of the file for details.
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216 static void vFLOPCheck1( void *pvParameters );
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219 * See comments at the top of the file for details.
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221 static void vFLOPCheck2( void *pvParameters );
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223 /* File scope variable used to communicate the occurrence of an error between
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225 static portBASE_TYPE xLatchedError = pdFALSE;
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227 /*-----------------------------------------------------------*/
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230 * Starts all the other tasks, then starts the scheduler.
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234 /* Initialise the hardware including the system clock and on board
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236 prvSetupHardware();
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238 /* Initialise the port that controls the external LED's utilized by the
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240 vParTestInitialise();
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242 /* Start the used standard demo tasks. */
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243 vStartLEDFlashTasks( mainLED_TASK_PRIORITY );
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244 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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245 vStartIntegerMathTasks( mainINTEGER_PRIORITY );
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246 vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
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247 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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249 /* Start the tasks defined in this file. The first three never block so
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250 must not be used with the co-operative scheduler. */
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251 #if configUSE_PREEMPTION == 1
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253 xTaskCreate( vRegisterCheck, "RegChck", configMINIMAL_STACK_SIZE, mainDUMMY_POINTER, tskIDLE_PRIORITY, ( xTaskHandle * ) NULL );
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254 xTaskCreate( vFLOPCheck1, "FLOP", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, ( xTaskHandle * ) NULL );
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255 xTaskCreate( vFLOPCheck2, "FLOP", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, ( xTaskHandle * ) NULL );
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259 xTaskCreate( vErrorChecks, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, ( xTaskHandle * ) NULL );
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261 /* Finally kick off the scheduler. This function should never return. */
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262 vTaskStartScheduler();
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264 /* Should never reach here as the tasks will now be executing under control
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265 of the scheduler. */
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267 /*-----------------------------------------------------------*/
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270 * Setup the hardware prior to using the scheduler. Most of the Cygnal
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271 * specific initialisation is performed here leaving standard 8052 setup
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272 * only in the driver code.
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274 static void prvSetupHardware( void )
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276 unsigned char ucOriginalSFRPage;
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278 /* Remember the SFR page before it is changed so it can get set back
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279 before the function exits. */
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280 ucOriginalSFRPage = SFRPAGE;
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282 /* Setup the SFR page to access the config SFR's. */
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283 SFRPAGE = CONFIG_PAGE;
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285 /* Don't allow the microcontroller to automatically switch SFR page, as the
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286 SFR page is not stored as part of the task context. */
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287 SFRPGCN = mainAUTO_SFR_OFF;
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289 /* Disable the watchdog. */
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290 WDTCN = mainDISABLE_BYTE_1;
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291 WDTCN = mainDISABLE_BYTE_2;
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293 /* Set the on board LED to push pull. */
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294 P1MDOUT |= mainPORT_1_BIT_6;
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296 /* Setup the cross bar to enable serial comms here as it is not part of the
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297 standard 8051 setup and therefore is not in the driver code. */
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298 XBR0 |= mainENABLE_COMS;
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299 P0MDOUT |= mainCOMS_LINES_TO_PUSH_PULL;
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301 /* Enable the cross bar so our hardware setup takes effect. */
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302 XBR2 = mainENABLE_CROSS_BAR;
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304 /* Setup a fast system clock. */
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305 prvSetupSystemClock();
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307 /* Return the SFR page. */
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308 SFRPAGE = ucOriginalSFRPage;
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310 /*-----------------------------------------------------------*/
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312 static void prvSetupSystemClock( void )
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314 volatile unsigned short usWait;
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315 const unsigned short usWaitTime = ( unsigned short ) 0x2ff;
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316 unsigned char ucOriginalSFRPage;
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318 /* Remember the SFR page so we can set it back at the end. */
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319 ucOriginalSFRPage = SFRPAGE;
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320 SFRPAGE = CONFIG_PAGE;
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322 /* Use the internal oscillator set to its fasted frequency. */
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323 OSCICN = mainSELECT_INTERNAL_OSC | mainDIVIDE_CLOCK_BY_1;
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325 /* Ensure the clock is stable. */
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326 for( usWait = 0; usWait < usWaitTime; usWait++ );
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328 /* Setup the clock source for the PLL. */
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329 PLL0CN &= ~mainPLL_USES_INTERNAL_OSC;
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331 /* Change the read timing for the flash ready for the fast clock. */
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332 SFRPAGE = LEGACY_PAGE;
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333 FLSCL |= mainFLASH_READ_TIMING;
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335 /* Turn on the PLL power. */
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336 SFRPAGE = CONFIG_PAGE;
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337 PLL0CN |= mainPLL_POWER_ON;
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339 /* Don't predivide the clock. */
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340 PLL0DIV = mainPLL_NO_PREDIVIDE;
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342 /* Set filter for fastest clock. */
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343 PLL0FLT = mainPLL_FILTER;
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344 PLL0MUL = mainPLL_MULTIPLICATION;
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346 /* Ensure the clock is stable. */
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347 for( usWait = 0; usWait < usWaitTime; usWait++ );
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349 /* Enable the PLL and wait for it to lock. */
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350 PLL0CN |= mainENABLE_PLL;
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351 for( usWait = 0; usWait < usWaitTime; usWait++ )
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353 if( PLL0CN & mainPLL_LOCKED )
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359 /* Select the PLL as the clock source. */
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360 CLKSEL |= mainSELECT_PLL_AS_SOURCE;
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362 /* Return the SFR back to its original value. */
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363 SFRPAGE = ucOriginalSFRPage;
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365 /*-----------------------------------------------------------*/
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367 static void prvToggleOnBoardLED( void )
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369 /* If the on board LED is on, turn it off and visa versa. */
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370 if( P1 & ucLED_BIT )
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379 /*-----------------------------------------------------------*/
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382 * See the documentation at the top of this file.
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384 static void vErrorChecks( void *pvParameters )
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386 portBASE_TYPE xErrorHasOccurred = pdFALSE;
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388 /* Just to prevent compiler warnings. */
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389 ( void ) pvParameters;
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391 /* Cycle for ever, delaying then checking all the other tasks are still
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392 operating without error. The delay period depends on whether an error
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393 has ever been detected. */
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396 if( xLatchedError == pdFALSE )
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398 /* No errors have been detected so delay for a longer period. The
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399 on board LED will get toggled every mainNO_ERROR_FLASH_PERIOD ms. */
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400 vTaskDelay( mainNO_ERROR_FLASH_PERIOD );
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404 /* We have at some time recognised an error in one of the demo
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405 application tasks, delay for a shorter period. The on board LED
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406 will get toggled every mainERROR_FLASH_PERIOD ms. */
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407 vTaskDelay( mainERROR_FLASH_PERIOD );
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412 /* Check the demo application tasks for errors. */
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414 if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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416 xErrorHasOccurred = pdTRUE;
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419 if( xArePollingQueuesStillRunning() != pdTRUE )
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421 xErrorHasOccurred = pdTRUE;
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424 if( xAreComTestTasksStillRunning() != pdTRUE )
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426 xErrorHasOccurred = pdTRUE;
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429 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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431 xErrorHasOccurred = pdTRUE;
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434 /* If an error has occurred, latch it to cause the LED flash rate to
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436 if( xErrorHasOccurred == pdTRUE )
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438 xLatchedError = pdTRUE;
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441 /* Toggle the LED to indicate the completion of a check cycle. The
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442 frequency of check cycles is dependent on whether or not we have
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443 latched an error. */
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444 prvToggleOnBoardLED();
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447 /*-----------------------------------------------------------*/
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450 * See the documentation at the top of this file. Also see the standard FLOP
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451 * demo task documentation for the rationale of these tasks.
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453 static void vFLOPCheck1( void *pvParameters )
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455 volatile portFLOAT fVal1, fVal2, fResult;
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457 ( void ) pvParameters;
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461 fVal1 = ( portFLOAT ) -1234.5678;
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462 fVal2 = ( portFLOAT ) 2345.6789;
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464 fResult = fVal1 + fVal2;
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465 if( ( fResult > ( portFLOAT ) 1111.15 ) || ( fResult < ( portFLOAT ) 1111.05 ) )
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470 fResult = fVal1 / fVal2;
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471 if( ( fResult > ( portFLOAT ) -0.51 ) || ( fResult < ( portFLOAT ) -0.53 ) )
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477 /*-----------------------------------------------------------*/
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480 * See the documentation at the top of this file.
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482 static void vFLOPCheck2( void *pvParameters )
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484 volatile portFLOAT fVal1, fVal2, fResult;
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486 ( void ) pvParameters;
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490 fVal1 = ( portFLOAT ) -12340.5678;
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491 fVal2 = ( portFLOAT ) 23450.6789;
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493 fResult = fVal1 + fVal2;
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494 if( ( fResult > ( portFLOAT ) 11110.15 ) || ( fResult < ( portFLOAT ) 11110.05 ) )
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499 fResult = fVal1 / -fVal2;
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500 if( ( fResult > ( portFLOAT ) 0.53 ) || ( fResult < ( portFLOAT ) 0.51 ) )
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506 /*-----------------------------------------------------------*/
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509 * See the documentation at the top of this file.
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511 static void vRegisterCheck( void *pvParameters )
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513 ( void ) pvParameters;
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517 if( SP != configSTACK_START )
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