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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77 * ENSURE TO READ THE DOCUMENTATION PAGE FOR THIS PORT AND DEMO APPLICATION ON
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78 * THE http://www.FreeRTOS.org WEB SITE FOR FULL INFORMATION ON USING THIS DEMO
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79 * APPLICATION, AND ITS ASSOCIATE FreeRTOS ARCHITECTURE PORT!
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82 * main() creates the demo application tasks and timers, then starts the
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85 * This demo is configured to run on the RL78/G13 Promotion Board, which is
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86 * fitted with a R5F100LEA microcontroller. The R5F100LEA contains a little
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87 * under 4K bytes of usable internal RAM. The RAM size restricts the number of
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88 * demo tasks that can be created, and the demo creates 13 tasks, 4 queues and
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89 * two timers. The RL78 range does however include parts with up to 32K bytes
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90 * of RAM (at the time of writing). Using FreeRTOS on such a part will allow an
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91 * application to make a more comprehensive use of FreeRTOS tasks, and other
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92 * FreeRTOS features.
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94 * In addition to the standard demo tasks, the following tasks, tests and timers
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95 * are created within this file:
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97 * "Reg test" tasks - These fill the registers with known values, then check
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98 * that each register still contains its expected value. Each task uses a
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99 * different set of values. The reg test tasks execute with a very low priority,
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100 * so get preempted very frequently. A register containing an unexpected value
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101 * is indicative of an error in the context switching mechanism.
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103 * The "Demo" Timer and Callback Function:
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104 * The demo timer callback function does nothing more than increment a variable.
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105 * The period of the demo timer is set relative to the period of the check timer
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106 * (described below). This allows the check timer to know how many times the
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107 * demo timer callback function should execute between each execution of the
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108 * check timer callback function. The variable incremented in the demo timer
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109 * callback function is used to determine how many times the callback function
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112 * The "Check" Timer and Callback Function:
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113 * The check timer period is initially set to three seconds. The check timer
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114 * callback function checks that all the standard demo tasks, the reg test tasks,
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115 * and the demo timer are not only still executing, but are executing without
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116 * reporting any errors. If the check timer discovers that a task or timer has
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117 * stalled, or reported an error, then it changes its own period from the
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118 * initial three seconds, to just 200ms. The check timer callback function also
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119 * toggles the user LED each time it is called. This provides a visual
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120 * indication of the system status: If the LED toggles every three seconds,
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121 * then no issues have been discovered. If the LED toggles every 200ms, then an
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122 * issue has been discovered with at least one task.
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126 /* Scheduler include files. */
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127 #include "FreeRTOS.h"
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129 #include "timers.h"
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131 /* Standard demo includes. */
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132 #include "dynamic.h"
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134 #include "blocktim.h"
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136 /* Hardware includes. */
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137 #include "port_iodefine.h"
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139 /* The period at which the check timer will expire, in ms, provided no errors
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140 have been reported by any of the standard demo tasks. ms are converted to the
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141 equivalent in ticks using the portTICK_RATE_MS constant. */
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142 #define mainCHECK_TIMER_PERIOD_MS ( 3000UL / portTICK_RATE_MS )
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144 /* The period at which the check timer will expire, in ms, if an error has been
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145 reported in one of the standard demo tasks, the check tasks, or the demo timer.
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146 ms are converted to the equivalent in ticks using the portTICK_RATE_MS
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148 #define mainERROR_CHECK_TIMER_PERIOD_MS ( 200UL / portTICK_RATE_MS )
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150 /* These two definitions are used to set the period of the demo timer. The demo
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151 timer period is always relative to the check timer period, so the check timer
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152 can determine if the demo timer has expired the expected number of times between
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153 its own executions. */
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154 #define mainDEMO_TIMER_INCREMENTS_PER_CHECK_TIMER_TIMEOUT ( 100UL )
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155 #define mainDEMO_TIMER_PERIOD_MS ( mainCHECK_TIMER_PERIOD_MS / mainDEMO_TIMER_INCREMENTS_PER_CHECK_TIMER_TIMEOUT )
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157 /* The LED toggled by the check timer. */
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158 #define mainLED_0 P1_bit.no0
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160 /* A block time of zero simple means "don't block". */
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161 #define mainDONT_BLOCK ( 0U )
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163 /*-----------------------------------------------------------*/
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166 * The 'check' timer callback function, as described at the top of this file.
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168 static void prvCheckTimerCallback( xTimerHandle xTimer );
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171 * The 'demo' timer callback function, as described at the top of this file.
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173 static void prvDemoTimerCallback( xTimerHandle xTimer );
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176 * This function is called from the C startup routine to setup the processor -
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177 * in particular the clock source.
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179 int __low_level_init(void);
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182 * Functions that define the RegTest tasks, as described at the top of this file.
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184 extern void vRegTest1( void *pvParameters );
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185 extern void vRegTest2( void *pvParameters );
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188 /*-----------------------------------------------------------*/
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190 /* Variables that are incremented on each cycle of the two reg tests to allow
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191 the check timer to know that they are still executing. */
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192 unsigned short usRegTest1LoopCounter = 0, usRegTest2LoopCounter;
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194 /* The check timer. This uses prvCheckTimerCallback() as its callback
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196 static xTimerHandle xCheckTimer = NULL;
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198 /* The demo timer. This uses prvDemoTimerCallback() as its callback function. */
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199 static xTimerHandle xDemoTimer = NULL;
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201 /* This variable is incremented each time the demo timer expires. */
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202 static volatile unsigned long ulDemoSoftwareTimerCounter = 0UL;
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204 /* RL78/G13 Option Byte Definition. Watchdog disabled, LVI enabled, OCD interface
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207 __root __far const unsigned char OptionByte[] @ 0x00C0 =
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209 0x00U, 0xFFU, 0xF8U, 0x81U
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212 /* Security byte definition */
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213 __root __far const unsigned char ucSecurityCode[] @ 0x00C4 =
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215 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00
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219 /*-----------------------------------------------------------*/
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223 /* Creates all the tasks and timers, then starts the scheduler. */
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225 /* First create the 'standard demo' tasks. These are used to demonstrate
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226 API functions being used and also to test the kernel port. More information
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227 is provided on the FreeRTOS.org WEB site. */
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228 vStartDynamicPriorityTasks();
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229 vStartPolledQueueTasks( tskIDLE_PRIORITY );
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230 vCreateBlockTimeTasks();
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232 /* Create the RegTest tasks as described at the top of this file. */
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233 // xTaskCreate( vRegTest1, "Reg1", configMINIMAL_STACK_SIZE, NULL, 0, NULL );
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234 // xTaskCreate( vRegTest2, "Reg2", configMINIMAL_STACK_SIZE, NULL, 0, NULL );
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236 /* Create the software timer that performs the 'check' functionality,
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237 as described at the top of this file. */
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238 xCheckTimer = xTimerCreate( ( const signed char * ) "CheckTimer",/* A text name, purely to help debugging. */
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239 ( mainCHECK_TIMER_PERIOD_MS ), /* The timer period, in this case 3000ms (3s). */
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240 pdTRUE, /* This is an auto-reload timer, so xAutoReload is set to pdTRUE. */
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241 ( void * ) 0, /* The ID is not used, so can be set to anything. */
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242 prvCheckTimerCallback /* The callback function that inspects the status of all the other tasks. */
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245 /* Create the software timer that just increments a variable for demo
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247 xDemoTimer = xTimerCreate( ( const signed char * ) "DemoTimer",/* A text name, purely to help debugging. */
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248 ( mainDEMO_TIMER_PERIOD_MS ), /* The timer period, in this case it is always calculated relative to the check timer period (see the definition of mainDEMO_TIMER_PERIOD_MS). */
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249 pdTRUE, /* This is an auto-reload timer, so xAutoReload is set to pdTRUE. */
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250 ( void * ) 0, /* The ID is not used, so can be set to anything. */
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251 prvDemoTimerCallback /* The callback function that inspects the status of all the other tasks. */
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254 /* Start both the check timer and the demo timer. The timers won't actually
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255 start until the scheduler is started. */
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256 xTimerStart( xCheckTimer, mainDONT_BLOCK );
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257 xTimerStart( xDemoTimer, mainDONT_BLOCK );
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259 /* Finally start the scheduler running. */
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260 vTaskStartScheduler();
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262 /* If this line is reached then vTaskStartScheduler() returned because there
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263 was insufficient heap memory remaining for the idle task to be created. */
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266 /*-----------------------------------------------------------*/
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268 static void prvDemoTimerCallback( xTimerHandle xTimer )
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270 /* The demo timer has expired. All it does is increment a variable. The
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271 period of the demo timer is relative to that of the check timer, so the
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272 check timer knows how many times this variable should have been incremented
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273 between each execution of the check timer's own callback. */
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274 ulDemoSoftwareTimerCounter++;
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276 /*-----------------------------------------------------------*/
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278 static void prvCheckTimerCallback( xTimerHandle xTimer )
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280 static portBASE_TYPE xChangedTimerPeriodAlready = pdFALSE, xErrorStatus = pdPASS;
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281 static unsigned short usLastRegTest1Counter = 0, usLastRegTest2Counter = 0;
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283 /* Inspect the status of the standard demo tasks. */
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284 if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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286 xErrorStatus = pdFAIL;
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289 if( xArePollingQueuesStillRunning() != pdTRUE )
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291 xErrorStatus = pdFAIL;
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294 if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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296 xErrorStatus = pdFAIL;
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299 /* Indicate an error if either of the reg test loop counters have not
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300 incremented since the last time this function was called. */
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301 if( usLastRegTest1Counter == usRegTest1LoopCounter )
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303 xErrorStatus = pdFAIL;
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307 usLastRegTest1Counter = usRegTest1LoopCounter;
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310 if( usLastRegTest2Counter == usRegTest2LoopCounter )
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312 xErrorStatus = pdFAIL;
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316 usLastRegTest2Counter = usRegTest2LoopCounter;
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319 /* Ensure that the demo software timer has expired
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320 mainDEMO_TIMER_INCREMENTS_PER_CHECK_TIMER_TIMEOUT times in between
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321 each call of this function. A critical section is not required to access
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322 ulDemoSoftwareTimerCounter as the variable is only accessed from another
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323 software timer callback, and only one software timer callback can be
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324 executing at any time. */
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325 if( ( ulDemoSoftwareTimerCounter < ( mainDEMO_TIMER_INCREMENTS_PER_CHECK_TIMER_TIMEOUT - 1 ) ) ||
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326 ( ulDemoSoftwareTimerCounter > ( mainDEMO_TIMER_INCREMENTS_PER_CHECK_TIMER_TIMEOUT + 1 ) )
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329 xErrorStatus = pdFAIL;
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333 ulDemoSoftwareTimerCounter = 0UL;
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336 if( ( xErrorStatus == pdFAIL ) && ( xChangedTimerPeriodAlready == pdFALSE ) )
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338 /* An error has occurred, but the timer's period has not yet been changed,
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339 change it now, and remember that it has been changed. Shortening the
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340 timer's period means the LED will toggle at a faster rate, giving a
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341 visible indication that something has gone wrong. */
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342 xChangedTimerPeriodAlready = pdTRUE;
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344 /* This call to xTimerChangePeriod() uses a zero block time. Functions
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345 called from inside of a timer callback function must *never* attempt to
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347 xTimerChangePeriod( xCheckTimer, ( mainERROR_CHECK_TIMER_PERIOD_MS ), mainDONT_BLOCK );
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350 /* Toggle the LED. The toggle rate will depend on whether or not an error
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351 has been found in any tasks. */
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352 mainLED_0 = !mainLED_0;
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354 /*-----------------------------------------------------------*/
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356 int __low_level_init(void)
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358 unsigned portCHAR ucResetFlag = RESF;
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360 portDISABLE_INTERRUPTS();
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379 /* LED port initialization - set port register. */
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383 /* Set port mode register. */
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387 /* Switch pin initialization - enable pull-up resistor. */
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388 // PU12_bit.no0 = 1;
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392 /*-----------------------------------------------------------*/
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394 void vRegTestError( void )
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396 /* Called by both reg test tasks if an error is found. There is no way out
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397 of this function so the loop counter of the calling task will stop
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398 incrementing, which will result in the check timer signialling an error. */
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401 /*-----------------------------------------------------------*/
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403 void vApplicationMallocFailedHook( void )
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405 /* Called if a call to pvPortMalloc() fails because there is insufficient
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406 free memory available in the FreeRTOS heap. pvPortMalloc() is called
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407 internally by FreeRTOS API functions that create tasks, queues, software
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408 timers, and semaphores. The size of the FreeRTOS heap is set by the
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409 configTOTAL_HEAP_SIZE configuration constant in FreeRTOSConfig.h. */
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410 taskDISABLE_INTERRUPTS();
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413 /*-----------------------------------------------------------*/
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415 void vApplicationStackOverflowHook( xTaskHandle pxTask, signed char *pcTaskName )
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417 ( void ) pcTaskName;
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420 /* Run time stack overflow checking is performed if
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421 configCHECK_FOR_STACK_OVERFLOW is defined to 1 or 2. This hook
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422 function is called if a stack overflow is detected. */
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423 taskDISABLE_INTERRUPTS();
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426 /*-----------------------------------------------------------*/
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428 void vApplicationIdleHook( void )
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430 volatile size_t xFreeHeapSpace;
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432 /* This is just a trivial example of an idle hook. It is called on each
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433 cycle of the idle task. It must *NOT* attempt to block. In this case the
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434 idle task just queries the amount of FreeRTOS heap that remains. See the
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435 memory management section on the http://www.FreeRTOS.org web site for memory
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436 management options. If there is a lot of heap memory free then the
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437 configTOTAL_HEAP_SIZE value in FreeRTOSConfig.h can be reduced to free up
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439 xFreeHeapSpace = xPortGetFreeHeapSize();
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