2 FreeRTOS V8.2.0rc1 - Copyright (C) 2014 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 >>! NOTE: The modification to the GPL is included to allow you to !<<
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14 >>! distribute a combined work that includes FreeRTOS without being !<<
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15 >>! obliged to provide the source code for proprietary components !<<
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16 >>! outside of the FreeRTOS kernel. !<<
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18 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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19 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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20 FOR A PARTICULAR PURPOSE. Full license text is available on the following
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21 link: http://www.freertos.org/a00114.html
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25 ***************************************************************************
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27 * Having a problem? Start by reading the FAQ "My application does *
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28 * not run, what could be wrong?". Have you defined configASSERT()? *
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30 * http://www.FreeRTOS.org/FAQHelp.html *
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32 ***************************************************************************
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34 ***************************************************************************
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36 * FreeRTOS provides completely free yet professionally developed, *
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37 * robust, strictly quality controlled, supported, and cross *
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38 * platform software that is more than just the market leader, it *
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39 * is the industry's de facto standard. *
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41 * Help yourself get started quickly while simultaneously helping *
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42 * to support the FreeRTOS project by purchasing a FreeRTOS *
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43 * tutorial book, reference manual, or both: *
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44 * http://www.FreeRTOS.org/Documentation *
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46 ***************************************************************************
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48 ***************************************************************************
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50 * Investing in training allows your team to be as productive as *
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51 * possible as early as possible, lowering your overall development *
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52 * cost, and enabling you to bring a more robust product to market *
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53 * earlier than would otherwise be possible. Richard Barry is both *
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54 * the architect and key author of FreeRTOS, and so also the world's *
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55 * leading authority on what is the world's most popular real time *
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56 * kernel for deeply embedded MCU designs. Obtaining your training *
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57 * from Richard ensures your team will gain directly from his in-depth *
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58 * product knowledge and years of usage experience. Contact Real Time *
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59 * Engineers Ltd to enquire about the FreeRTOS Masterclass, presented *
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60 * by Richard Barry: http://www.FreeRTOS.org/contact
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62 ***************************************************************************
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64 ***************************************************************************
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66 * You are receiving this top quality software for free. Please play *
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67 * fair and reciprocate by reporting any suspected issues and *
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68 * participating in the community forum: *
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69 * http://www.FreeRTOS.org/support *
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73 ***************************************************************************
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75 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
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76 license and Real Time Engineers Ltd. contact details.
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78 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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79 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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80 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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82 http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
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83 Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
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85 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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86 Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
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87 licenses offer ticketed support, indemnification and commercial middleware.
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89 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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90 engineered and independently SIL3 certified version for use in safety and
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91 mission critical applications that require provable dependability.
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98 * ENSURE TO READ THE DOCUMENTATION PAGE FOR THIS PORT AND DEMO APPLICATION ON
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99 * THE http://www.FreeRTOS.org WEB SITE FOR FULL INFORMATION ON USING THIS DEMO
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100 * APPLICATION, AND ITS ASSOCIATE FreeRTOS ARCHITECTURE PORT!
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103 * main() creates the demo application tasks and timers, then starts the
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106 * This demo is configured to run on the RL78/G13 Promotion Board, which is
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107 * fitted with a R5F100LEA microcontroller. The R5F100LEA contains a little
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108 * under 4K bytes of usable internal RAM. The RAM size restricts the number of
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109 * demo tasks that can be created, and the demo creates 13 tasks, 4 queues and
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110 * two timers. The RL78 range does however include parts with up to 32K bytes
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111 * of RAM (at the time of writing). Using FreeRTOS on such a part will allow an
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112 * application to make a more comprehensive use of FreeRTOS tasks, and other
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113 * FreeRTOS features.
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115 * In addition to the standard demo tasks, the following tasks, tests and timers
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116 * are created within this file:
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118 * "Reg test" tasks - These fill the registers with known values, then check
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119 * that each register still contains its expected value. Each task uses a
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120 * different set of values. The reg test tasks execute with a very low priority,
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121 * so get preempted very frequently. A register containing an unexpected value
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122 * is indicative of an error in the context switching mechanism.
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124 * The "Demo" Timer and Callback Function:
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125 * The demo timer callback function does nothing more than increment a variable.
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126 * The period of the demo timer is set relative to the period of the check timer
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127 * (described below). This allows the check timer to know how many times the
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128 * demo timer callback function should execute between each execution of the
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129 * check timer callback function. The variable incremented in the demo timer
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130 * callback function is used to determine how many times the callback function
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133 * The "Check" Timer and Callback Function:
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134 * The check timer period is initially set to three seconds. The check timer
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135 * callback function checks that all the standard demo tasks, the reg test tasks,
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136 * and the demo timer are not only still executing, but are executing without
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137 * reporting any errors. If the check timer discovers that a task or timer has
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138 * stalled, or reported an error, then it changes its own period from the
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139 * initial three seconds, to just 200ms. The check timer callback function also
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140 * toggles the user LED each time it is called. This provides a visual
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141 * indication of the system status: If the LED toggles every three seconds,
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142 * then no issues have been discovered. If the LED toggles every 200ms, then an
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143 * issue has been discovered with at least one task.
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147 /* Scheduler include files. */
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148 #include "FreeRTOS.h"
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150 #include "timers.h"
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152 /* Standard demo includes. */
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153 #include "dynamic.h"
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155 #include "blocktim.h"
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157 /* The period at which the check timer will expire, in ms, provided no errors
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158 have been reported by any of the standard demo tasks. ms are converted to the
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159 equivalent in ticks using the portTICK_PERIOD_MS constant. */
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160 #define mainCHECK_TIMER_PERIOD_MS ( 3000UL / portTICK_PERIOD_MS )
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162 /* The period at which the check timer will expire, in ms, if an error has been
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163 reported in one of the standard demo tasks, the check tasks, or the demo timer.
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164 ms are converted to the equivalent in ticks using the portTICK_PERIOD_MS
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166 #define mainERROR_CHECK_TIMER_PERIOD_MS ( 200UL / portTICK_PERIOD_MS )
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168 /* These two definitions are used to set the period of the demo timer. The demo
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169 timer period is always relative to the check timer period, so the check timer
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170 can determine if the demo timer has expired the expected number of times between
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171 its own executions. */
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172 #define mainDEMO_TIMER_INCREMENTS_PER_CHECK_TIMER_TIMEOUT ( 100UL )
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173 #define mainDEMO_TIMER_PERIOD_MS ( mainCHECK_TIMER_PERIOD_MS / mainDEMO_TIMER_INCREMENTS_PER_CHECK_TIMER_TIMEOUT )
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175 /* The LED toggled by the check timer. */
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176 #define mainLED_0 P7_bit.no7
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178 /* A block time of zero simple means "don't block". */
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179 #define mainDONT_BLOCK ( 0U )
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181 /*-----------------------------------------------------------*/
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184 * The 'check' timer callback function, as described at the top of this file.
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186 static void prvCheckTimerCallback( TimerHandle_t xTimer );
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189 * The 'demo' timer callback function, as described at the top of this file.
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191 static void prvDemoTimerCallback( TimerHandle_t xTimer );
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194 * This function is called from the C startup routine to setup the processor -
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195 * in particular the clock source.
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197 int __low_level_init(void);
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200 * Functions that define the RegTest tasks, as described at the top of this file.
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202 extern void vRegTest1( void *pvParameters );
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203 extern void vRegTest2( void *pvParameters );
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206 /*-----------------------------------------------------------*/
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208 /* If an error is discovered by one of the RegTest tasks then this flag is set
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209 to pdFAIL. The 'check' timer then inspects this flag to detect errors within
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210 the RegTest tasks. */
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211 static short sRegTestStatus = pdPASS;
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213 /* The check timer. This uses prvCheckTimerCallback() as its callback
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215 static TimerHandle_t xCheckTimer = NULL;
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217 /* The demo timer. This uses prvDemoTimerCallback() as its callback function. */
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218 static TimerHandle_t xDemoTimer = NULL;
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220 /* This variable is incremented each time the demo timer expires. */
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221 static volatile unsigned long ulDemoSoftwareTimerCounter = 0UL;
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223 /* RL78 Option Byte Definition. Watchdog disabled, LVI enabled, OCD interface
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225 __root __far const unsigned char OptionByte[] @ 0x00C0 =
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227 0x6eU, 0xffU, 0xe8U, 0x85U
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230 /* Security byte definition */
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231 __root __far const unsigned char SecuIDCode[] @ 0x00C4 =
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233 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x54
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236 /*-----------------------------------------------------------*/
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240 /* Creates all the tasks and timers, then starts the scheduler. */
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242 /* First create the 'standard demo' tasks. These are used to demonstrate
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243 API functions being used and also to test the kernel port. More information
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244 is provided on the FreeRTOS.org WEB site. */
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245 vStartDynamicPriorityTasks();
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246 vStartPolledQueueTasks( tskIDLE_PRIORITY );
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247 vCreateBlockTimeTasks();
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249 /* Create the RegTest tasks as described at the top of this file. */
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250 xTaskCreate( vRegTest1, "Reg1", configMINIMAL_STACK_SIZE, NULL, 0, NULL );
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251 xTaskCreate( vRegTest2, "Reg2", configMINIMAL_STACK_SIZE, NULL, 0, NULL );
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253 /* Create the software timer that performs the 'check' functionality,
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254 as described at the top of this file. */
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255 xCheckTimer = xTimerCreate( "CheckTimer",/* A text name, purely to help debugging. */
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256 ( mainCHECK_TIMER_PERIOD_MS ), /* The timer period, in this case 3000ms (3s). */
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257 pdTRUE, /* This is an auto-reload timer, so xAutoReload is set to pdTRUE. */
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258 ( void * ) 0, /* The ID is not used, so can be set to anything. */
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259 prvCheckTimerCallback /* The callback function that inspects the status of all the other tasks. */
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262 /* Create the software timer that just increments a variable for demo
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264 xDemoTimer = xTimerCreate( "DemoTimer",/* A text name, purely to help debugging. */
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265 ( 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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266 pdTRUE, /* This is an auto-reload timer, so xAutoReload is set to pdTRUE. */
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267 ( void * ) 0, /* The ID is not used, so can be set to anything. */
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268 prvDemoTimerCallback /* The callback function that inspects the status of all the other tasks. */
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271 /* Start both the check timer and the demo timer. The timers won't actually
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272 start until the scheduler is started. */
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273 xTimerStart( xCheckTimer, mainDONT_BLOCK );
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274 xTimerStart( xDemoTimer, mainDONT_BLOCK );
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276 /* Finally start the scheduler running. */
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277 vTaskStartScheduler();
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279 /* If this line is reached then vTaskStartScheduler() returned because there
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280 was insufficient heap memory remaining for the idle task to be created. */
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283 /*-----------------------------------------------------------*/
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285 static void prvDemoTimerCallback( TimerHandle_t xTimer )
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287 /* The demo timer has expired. All it does is increment a variable. The
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288 period of the demo timer is relative to that of the check timer, so the
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289 check timer knows how many times this variable should have been incremented
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290 between each execution of the check timer's own callback. */
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291 ulDemoSoftwareTimerCounter++;
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293 /*-----------------------------------------------------------*/
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295 static void prvCheckTimerCallback( TimerHandle_t xTimer )
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297 static portBASE_TYPE xChangedTimerPeriodAlready = pdFALSE, xErrorStatus = pdPASS;
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299 /* Inspect the status of the standard demo tasks. */
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300 if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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302 xErrorStatus = pdFAIL;
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305 if( xArePollingQueuesStillRunning() != pdTRUE )
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307 xErrorStatus = pdFAIL;
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310 if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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312 xErrorStatus = pdFAIL;
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315 /* Inspect the status of the reg test tasks. */
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316 if( sRegTestStatus != pdPASS )
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318 xErrorStatus = pdFAIL;
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321 /* Ensure that the demo software timer has expired
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322 mainDEMO_TIMER_INCREMENTS_PER_CHECK_TIMER_TIMEOUT times in between
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323 each call of this function. A critical section is not required to access
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324 ulDemoSoftwareTimerCounter as the variable is only accessed from another
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325 software timer callback, and only one software timer callback can be
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326 executing at any time. */
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327 if( ( ulDemoSoftwareTimerCounter < ( mainDEMO_TIMER_INCREMENTS_PER_CHECK_TIMER_TIMEOUT - 1 ) ) ||
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328 ( ulDemoSoftwareTimerCounter > ( mainDEMO_TIMER_INCREMENTS_PER_CHECK_TIMER_TIMEOUT + 1 ) )
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331 xErrorStatus = pdFAIL;
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335 ulDemoSoftwareTimerCounter = 0UL;
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338 if( ( xErrorStatus == pdFAIL ) && ( xChangedTimerPeriodAlready == pdFALSE ) )
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340 /* An error has occurred, but the timer's period has not yet been changed,
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341 change it now, and remember that it has been changed. Shortening the
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342 timer's period means the LED will toggle at a faster rate, giving a
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343 visible indication that something has gone wrong. */
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344 xChangedTimerPeriodAlready = pdTRUE;
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346 /* This call to xTimerChangePeriod() uses a zero block time. Functions
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347 called from inside of a timer callback function must *never* attempt to
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349 xTimerChangePeriod( xCheckTimer, ( mainERROR_CHECK_TIMER_PERIOD_MS ), mainDONT_BLOCK );
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352 /* Toggle the LED. The toggle rate will depend on whether or not an error
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353 has been found in any tasks. */
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354 mainLED_0 = !mainLED_0;
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356 /*-----------------------------------------------------------*/
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358 int __low_level_init(void)
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360 unsigned char ucResetFlag = RESF;
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362 portDISABLE_INTERRUPTS();
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364 /* Clock Configuration:
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365 In this port, to use the internal high speed clock source of the
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366 microcontroller, define the configCLOCK_SOURCE as 1 in FreeRTOSConfig.h. To
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367 use an external clock define configCLOCK_SOURCE as 0. */
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368 #if configCLOCK_SOURCE == 1
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389 unsigned char ucTempStabset, ucTempStabWait;
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395 ucTempStabset = 0xFF;
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399 ucTempStabWait = OSTC;
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400 ucTempStabWait &= ucTempStabset;
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402 while( ucTempStabWait != ucTempStabset );
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417 #endif /* configCLOCK_SOURCE == 1 */
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419 /* LED port initialization - set port register. */
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422 /* Set port mode register. */
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425 /* Switch pin initialization - enable pull-up resistor. */
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430 /*-----------------------------------------------------------*/
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432 void vRegTestError( void )
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434 /* Called by the RegTest tasks if an error is found. lRegTestStatus is
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435 inspected by the check task. */
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436 sRegTestStatus = pdFAIL;
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438 /* Do not return from here as the reg test tasks clobber all registers so
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439 function calls may not function correctly. */
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442 /*-----------------------------------------------------------*/
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444 void vApplicationMallocFailedHook( void )
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446 /* Called if a call to pvPortMalloc() fails because there is insufficient
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447 free memory available in the FreeRTOS heap. pvPortMalloc() is called
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448 internally by FreeRTOS API functions that create tasks, queues, software
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449 timers, and semaphores. The size of the FreeRTOS heap is set by the
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450 configTOTAL_HEAP_SIZE configuration constant in FreeRTOSConfig.h. */
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451 taskDISABLE_INTERRUPTS();
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454 /*-----------------------------------------------------------*/
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456 void vApplicationStackOverflowHook( TaskHandle_t pxTask, char *pcTaskName )
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458 ( void ) pcTaskName;
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461 /* Run time stack overflow checking is performed if
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462 configCHECK_FOR_STACK_OVERFLOW is defined to 1 or 2. This hook
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463 function is called if a stack overflow is detected. */
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464 taskDISABLE_INTERRUPTS();
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467 /*-----------------------------------------------------------*/
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469 void vApplicationIdleHook( void )
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471 volatile size_t xFreeHeapSpace;
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473 /* This is just a trivial example of an idle hook. It is called on each
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474 cycle of the idle task. It must *NOT* attempt to block. In this case the
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475 idle task just queries the amount of FreeRTOS heap that remains. See the
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476 memory management section on the http://www.FreeRTOS.org web site for memory
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477 management options. If there is a lot of heap memory free then the
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478 configTOTAL_HEAP_SIZE value in FreeRTOSConfig.h can be reduced to free up
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480 xFreeHeapSpace = xPortGetFreeHeapSize();
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