2 FreeRTOS V9.0.0rc1 - Copyright (C) 2016 Real Time Engineers Ltd.
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5 VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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7 This file is part of the FreeRTOS distribution.
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9 FreeRTOS is free software; you can redistribute it and/or modify it under
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10 the terms of the GNU General Public License (version 2) as published by the
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11 Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception.
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13 ***************************************************************************
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14 >>! NOTE: The modification to the GPL is included to allow you to !<<
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15 >>! distribute a combined work that includes FreeRTOS without being !<<
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16 >>! obliged to provide the source code for proprietary components !<<
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17 >>! outside of the FreeRTOS kernel. !<<
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18 ***************************************************************************
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20 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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21 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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22 FOR A PARTICULAR PURPOSE. Full license text is available on the following
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23 link: http://www.freertos.org/a00114.html
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25 ***************************************************************************
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27 * FreeRTOS provides completely free yet professionally developed, *
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28 * robust, strictly quality controlled, supported, and cross *
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29 * platform software that is more than just the market leader, it *
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30 * is the industry's de facto standard. *
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32 * Help yourself get started quickly while simultaneously helping *
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33 * to support the FreeRTOS project by purchasing a FreeRTOS *
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34 * tutorial book, reference manual, or both: *
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35 * http://www.FreeRTOS.org/Documentation *
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37 ***************************************************************************
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39 http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
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40 the FAQ page "My application does not run, what could be wrong?". Have you
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41 defined configASSERT()?
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43 http://www.FreeRTOS.org/support - In return for receiving this top quality
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44 embedded software for free we request you assist our global community by
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45 participating in the support forum.
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47 http://www.FreeRTOS.org/training - Investing in training allows your team to
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48 be as productive as possible as early as possible. Now you can receive
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49 FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
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50 Ltd, and the world's leading authority on the world's leading RTOS.
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52 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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53 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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54 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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56 http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
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57 Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
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59 http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
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60 Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
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61 licenses offer ticketed support, indemnification and commercial middleware.
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63 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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64 engineered and independently SIL3 certified version for use in safety and
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65 mission critical applications that require provable dependability.
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72 * ENSURE TO READ THE DOCUMENTATION PAGE FOR THIS PORT AND DEMO APPLICATION ON
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73 * THE http://www.FreeRTOS.org WEB SITE FOR FULL INFORMATION ON USING THIS DEMO
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74 * APPLICATION, AND ITS ASSOCIATE FreeRTOS ARCHITECTURE PORT!
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77 * main() creates the demo application tasks and timers, then starts the
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80 * This demo is configured to run on the RL78/G13 Promotion Board, which is
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81 * fitted with a R5F100LEA microcontroller. The R5F100LEA contains a little
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82 * under 4K bytes of usable internal RAM. The RAM size restricts the number of
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83 * demo tasks that can be created, and the demo creates 13 tasks, 4 queues and
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84 * two timers. The RL78 range does however include parts with up to 32K bytes
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85 * of RAM (at the time of writing). Using FreeRTOS on such a part will allow an
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86 * application to make a more comprehensive use of FreeRTOS tasks, and other
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87 * FreeRTOS features.
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89 * In addition to the standard demo tasks, the following tasks, tests and timers
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90 * are created within this file:
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92 * "Reg test" tasks - These fill the registers with known values, then check
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93 * that each register still contains its expected value. Each task uses a
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94 * different set of values. The reg test tasks execute with a very low priority,
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95 * so get preempted very frequently. A register containing an unexpected value
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96 * is indicative of an error in the context switching mechanism.
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98 * The "Demo" Timer and Callback Function:
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99 * The demo timer callback function does nothing more than increment a variable.
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100 * The period of the demo timer is set relative to the period of the check timer
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101 * (described below). This allows the check timer to know how many times the
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102 * demo timer callback function should execute between each execution of the
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103 * check timer callback function. The variable incremented in the demo timer
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104 * callback function is used to determine how many times the callback function
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107 * The "Check" Timer and Callback Function:
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108 * The check timer period is initially set to three seconds. The check timer
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109 * callback function checks that all the standard demo tasks, the reg test tasks,
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110 * and the demo timer are not only still executing, but are executing without
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111 * reporting any errors. If the check timer discovers that a task or timer has
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112 * stalled, or reported an error, then it changes its own period from the
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113 * initial three seconds, to just 200ms. The check timer callback function also
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114 * toggles the user LED each time it is called. This provides a visual
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115 * indication of the system status: If the LED toggles every three seconds,
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116 * then no issues have been discovered. If the LED toggles every 200ms, then an
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117 * issue has been discovered with at least one task.
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121 /* Scheduler include files. */
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122 #include "FreeRTOS.h"
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124 #include "timers.h"
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126 /* Standard demo includes. */
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127 #include "dynamic.h"
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129 #include "blocktim.h"
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131 /* The period at which the check timer will expire, in ms, provided no errors
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132 have been reported by any of the standard demo tasks. ms are converted to the
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133 equivalent in ticks using the portTICK_PERIOD_MS constant. */
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134 #define mainCHECK_TIMER_PERIOD_MS ( 3000UL / portTICK_PERIOD_MS )
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136 /* The period at which the check timer will expire, in ms, if an error has been
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137 reported in one of the standard demo tasks, the check tasks, or the demo timer.
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138 ms are converted to the equivalent in ticks using the portTICK_PERIOD_MS
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140 #define mainERROR_CHECK_TIMER_PERIOD_MS ( 200UL / portTICK_PERIOD_MS )
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142 /* These two definitions are used to set the period of the demo timer. The demo
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143 timer period is always relative to the check timer period, so the check timer
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144 can determine if the demo timer has expired the expected number of times between
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145 its own executions. */
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146 #define mainDEMO_TIMER_INCREMENTS_PER_CHECK_TIMER_TIMEOUT ( 100UL )
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147 #define mainDEMO_TIMER_PERIOD_MS ( mainCHECK_TIMER_PERIOD_MS / mainDEMO_TIMER_INCREMENTS_PER_CHECK_TIMER_TIMEOUT )
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149 /* The LED toggled by the check timer. */
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150 #define mainLED_0 P7_bit.no7
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152 /* A block time of zero simple means "don't block". */
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153 #define mainDONT_BLOCK ( 0U )
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155 /*-----------------------------------------------------------*/
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158 * The 'check' timer callback function, as described at the top of this file.
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160 static void prvCheckTimerCallback( TimerHandle_t xTimer );
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163 * The 'demo' timer callback function, as described at the top of this file.
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165 static void prvDemoTimerCallback( TimerHandle_t xTimer );
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168 * This function is called from the C startup routine to setup the processor -
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169 * in particular the clock source.
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171 int __low_level_init(void);
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174 * Functions that define the RegTest tasks, as described at the top of this file.
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176 extern void vRegTest1( void *pvParameters );
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177 extern void vRegTest2( void *pvParameters );
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180 /*-----------------------------------------------------------*/
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182 /* If an error is discovered by one of the RegTest tasks then this flag is set
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183 to pdFAIL. The 'check' timer then inspects this flag to detect errors within
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184 the RegTest tasks. */
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185 static short sRegTestStatus = pdPASS;
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187 /* The check timer. This uses prvCheckTimerCallback() as its callback
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189 static TimerHandle_t xCheckTimer = NULL;
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191 /* The demo timer. This uses prvDemoTimerCallback() as its callback function. */
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192 static TimerHandle_t xDemoTimer = NULL;
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194 /* This variable is incremented each time the demo timer expires. */
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195 static volatile unsigned long ulDemoSoftwareTimerCounter = 0UL;
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197 /* RL78 Option Byte Definition. Watchdog disabled, LVI enabled, OCD interface
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199 __root __far const unsigned char OptionByte[] @ 0x00C0 =
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201 0x6eU, 0xffU, 0xe8U, 0x85U
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204 /* Security byte definition */
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205 __root __far const unsigned char SecuIDCode[] @ 0x00C4 =
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207 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x54
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210 /*-----------------------------------------------------------*/
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214 /* Creates all the tasks and timers, then starts the scheduler. */
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216 /* First create the 'standard demo' tasks. These are used to demonstrate
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217 API functions being used and also to test the kernel port. More information
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218 is provided on the FreeRTOS.org WEB site. */
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219 vStartDynamicPriorityTasks();
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220 vStartPolledQueueTasks( tskIDLE_PRIORITY );
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221 vCreateBlockTimeTasks();
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223 /* Create the RegTest tasks as described at the top of this file. */
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224 xTaskCreate( vRegTest1, "Reg1", configMINIMAL_STACK_SIZE, NULL, 0, NULL );
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225 xTaskCreate( vRegTest2, "Reg2", configMINIMAL_STACK_SIZE, NULL, 0, NULL );
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227 /* Create the software timer that performs the 'check' functionality,
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228 as described at the top of this file. */
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229 xCheckTimer = xTimerCreate( "CheckTimer",/* A text name, purely to help debugging. */
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230 ( mainCHECK_TIMER_PERIOD_MS ), /* The timer period, in this case 3000ms (3s). */
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231 pdTRUE, /* This is an auto-reload timer, so xAutoReload is set to pdTRUE. */
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232 ( void * ) 0, /* The ID is not used, so can be set to anything. */
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233 prvCheckTimerCallback /* The callback function that inspects the status of all the other tasks. */
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236 /* Create the software timer that just increments a variable for demo
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238 xDemoTimer = xTimerCreate( "DemoTimer",/* A text name, purely to help debugging. */
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239 ( 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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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 prvDemoTimerCallback /* The callback function that inspects the status of all the other tasks. */
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245 /* Start both the check timer and the demo timer. The timers won't actually
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246 start until the scheduler is started. */
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247 xTimerStart( xCheckTimer, mainDONT_BLOCK );
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248 xTimerStart( xDemoTimer, mainDONT_BLOCK );
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250 /* Finally start the scheduler running. */
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251 vTaskStartScheduler();
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253 /* If this line is reached then vTaskStartScheduler() returned because there
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254 was insufficient heap memory remaining for the idle task to be created. */
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257 /*-----------------------------------------------------------*/
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259 static void prvDemoTimerCallback( TimerHandle_t xTimer )
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261 /* The demo timer has expired. All it does is increment a variable. The
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262 period of the demo timer is relative to that of the check timer, so the
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263 check timer knows how many times this variable should have been incremented
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264 between each execution of the check timer's own callback. */
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265 ulDemoSoftwareTimerCounter++;
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267 /*-----------------------------------------------------------*/
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269 static void prvCheckTimerCallback( TimerHandle_t xTimer )
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271 static portBASE_TYPE xChangedTimerPeriodAlready = pdFALSE, xErrorStatus = pdPASS;
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273 /* Inspect the status of the standard demo tasks. */
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274 if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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276 xErrorStatus = pdFAIL;
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279 if( xArePollingQueuesStillRunning() != pdTRUE )
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281 xErrorStatus = pdFAIL;
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284 if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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286 xErrorStatus = pdFAIL;
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289 /* Inspect the status of the reg test tasks. */
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290 if( sRegTestStatus != pdPASS )
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292 xErrorStatus = pdFAIL;
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295 /* Ensure that the demo software timer has expired
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296 mainDEMO_TIMER_INCREMENTS_PER_CHECK_TIMER_TIMEOUT times in between
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297 each call of this function. A critical section is not required to access
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298 ulDemoSoftwareTimerCounter as the variable is only accessed from another
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299 software timer callback, and only one software timer callback can be
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300 executing at any time. */
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301 if( ( ulDemoSoftwareTimerCounter < ( mainDEMO_TIMER_INCREMENTS_PER_CHECK_TIMER_TIMEOUT - 1 ) ) ||
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302 ( ulDemoSoftwareTimerCounter > ( mainDEMO_TIMER_INCREMENTS_PER_CHECK_TIMER_TIMEOUT + 1 ) )
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305 xErrorStatus = pdFAIL;
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309 ulDemoSoftwareTimerCounter = 0UL;
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312 if( ( xErrorStatus == pdFAIL ) && ( xChangedTimerPeriodAlready == pdFALSE ) )
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314 /* An error has occurred, but the timer's period has not yet been changed,
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315 change it now, and remember that it has been changed. Shortening the
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316 timer's period means the LED will toggle at a faster rate, giving a
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317 visible indication that something has gone wrong. */
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318 xChangedTimerPeriodAlready = pdTRUE;
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320 /* This call to xTimerChangePeriod() uses a zero block time. Functions
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321 called from inside of a timer callback function must *never* attempt to
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323 xTimerChangePeriod( xCheckTimer, ( mainERROR_CHECK_TIMER_PERIOD_MS ), mainDONT_BLOCK );
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326 /* Toggle the LED. The toggle rate will depend on whether or not an error
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327 has been found in any tasks. */
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328 mainLED_0 = !mainLED_0;
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330 /*-----------------------------------------------------------*/
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332 int __low_level_init(void)
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334 unsigned char ucResetFlag = RESF;
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336 portDISABLE_INTERRUPTS();
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338 /* Clock Configuration:
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339 In this port, to use the internal high speed clock source of the
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340 microcontroller, define the configCLOCK_SOURCE as 1 in FreeRTOSConfig.h. To
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341 use an external clock define configCLOCK_SOURCE as 0. */
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342 #if configCLOCK_SOURCE == 1
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363 unsigned char ucTempStabset, ucTempStabWait;
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369 ucTempStabset = 0xFF;
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373 ucTempStabWait = OSTC;
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374 ucTempStabWait &= ucTempStabset;
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376 while( ucTempStabWait != ucTempStabset );
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391 #endif /* configCLOCK_SOURCE == 1 */
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393 /* LED port initialization - set port register. */
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396 /* Set port mode register. */
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399 /* Switch pin initialization - enable pull-up resistor. */
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404 /*-----------------------------------------------------------*/
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406 void vRegTestError( void )
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408 /* Called by the RegTest tasks if an error is found. lRegTestStatus is
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409 inspected by the check task. */
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410 sRegTestStatus = pdFAIL;
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412 /* Do not return from here as the reg test tasks clobber all registers so
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413 function calls may not function correctly. */
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416 /*-----------------------------------------------------------*/
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418 void vApplicationMallocFailedHook( void )
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420 /* Called if a call to pvPortMalloc() fails because there is insufficient
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421 free memory available in the FreeRTOS heap. pvPortMalloc() is called
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422 internally by FreeRTOS API functions that create tasks, queues, software
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423 timers, and semaphores. The size of the FreeRTOS heap is set by the
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424 configTOTAL_HEAP_SIZE configuration constant in FreeRTOSConfig.h. */
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425 taskDISABLE_INTERRUPTS();
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428 /*-----------------------------------------------------------*/
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430 void vApplicationStackOverflowHook( TaskHandle_t pxTask, char *pcTaskName )
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432 ( void ) pcTaskName;
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435 /* Run time stack overflow checking is performed if
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436 configCHECK_FOR_STACK_OVERFLOW is defined to 1 or 2. This hook
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437 function is called if a stack overflow is detected. */
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438 taskDISABLE_INTERRUPTS();
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441 /*-----------------------------------------------------------*/
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443 void vApplicationIdleHook( void )
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445 volatile size_t xFreeHeapSpace;
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447 /* This is just a trivial example of an idle hook. It is called on each
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448 cycle of the idle task. It must *NOT* attempt to block. In this case the
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449 idle task just queries the amount of FreeRTOS heap that remains. See the
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450 memory management section on the http://www.FreeRTOS.org web site for memory
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451 management options. If there is a lot of heap memory free then the
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452 configTOTAL_HEAP_SIZE value in FreeRTOSConfig.h can be reduced to free up
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454 xFreeHeapSpace = xPortGetFreeHeapSize();
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