2 * FreeRTOS Kernel V10.0.0
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3 * Copyright (C) 2017 Amazon.com, Inc. or its affiliates. All Rights Reserved.
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5 * Permission is hereby granted, free of charge, to any person obtaining a copy of
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6 * this software and associated documentation files (the "Software"), to deal in
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7 * the Software without restriction, including without limitation the rights to
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8 * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
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9 * the Software, and to permit persons to whom the Software is furnished to do so,
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10 * subject to the following conditions:
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12 * The above copyright notice and this permission notice shall be included in all
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13 * copies or substantial portions of the Software. If you wish to use our Amazon
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14 * FreeRTOS name, please do so in a fair use way that does not cause confusion.
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16 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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17 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
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18 * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
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19 * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
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20 * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
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21 * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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23 * http://www.FreeRTOS.org
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24 * http://aws.amazon.com/freertos
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26 * 1 tab == 4 spaces!
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29 /******************************************************************************
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30 * NOTE 1: This project provides two demo applications. A simple blinky style
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31 * project, and a more comprehensive test and demo application. The
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32 * mainCREATE_SIMPLE_BLINKY_DEMO_ONLY setting in main.c is used to select
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33 * between the two. See the notes on using mainCREATE_SIMPLE_BLINKY_DEMO_ONLY
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34 * in main.c. This file implements the comprehensive test and demo version.
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36 * NOTE 2: This file only contains the source code that is specific to the
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37 * full demo. Generic functions, such FreeRTOS hook functions, and functions
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38 * required to configure the hardware, along with an example of how to write an
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39 * interrupt service routine, are defined in main.c.
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40 ******************************************************************************
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42 * main_full() creates all the demo application tasks and two software timers,
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43 * then starts the scheduler. The web documentation provides more details of
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44 * the standard demo application tasks, which provide no particular
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45 * functionality, but do provide a good example of how to use the FreeRTOS API.
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47 * In addition to the standard demo tasks, the following tasks, tests and
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48 * timers are created within this file:
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50 * "Reg test" tasks - These fill the registers with known values, then check
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51 * that each register still contains its expected value. Each task uses a
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52 * different set of values. The reg test tasks execute with a very low priority,
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53 * so get preempted very frequently. A register containing an unexpected value
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54 * is indicative of an error in the context switching mechanism.
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56 * The "Demo" Timer and Callback Function:
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57 * The demo timer callback function does nothing more than increment a variable.
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58 * The period of the demo timer is set relative to the period of the check timer
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59 * (described below). This allows the check timer to know how many times the
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60 * demo timer callback function should execute between each execution of the
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61 * check timer callback function. The variable incremented in the demo timer
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62 * callback function is used to determine how many times the callback function
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65 * The "Check" Timer and Callback Function:
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66 * The check timer period is initially set to three seconds. The check timer
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67 * callback function checks that all the standard demo tasks, the reg test
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68 * tasks, and the demo timer are not only still executing, but are executing
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69 * without reporting any errors. If the check timer discovers that a task or
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70 * timer has stalled, or reported an error, then it changes its own period from
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71 * the initial three seconds, to just 200ms. The check timer callback function
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72 * also toggles an LED each time it is called. This provides a visual
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73 * indication of the system status: If the LED toggles every three seconds,
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74 * then no issues have been discovered. If the LED toggles every 200ms, then
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75 * an issue has been discovered with at least one task.
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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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83 /* Scheduler include files. */
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84 #include "FreeRTOS.h"
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88 /* Standard demo includes. */
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89 #include "dynamic.h"
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91 #include "blocktim.h"
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93 /* Hardware includes. */
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94 #include "demo_specific_io.h"
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96 /* The period at which the check timer will expire, in ms, provided no errors
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97 have been reported by any of the standard demo tasks. ms are converted to the
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98 equivalent in ticks using the portTICK_PERIOD_MS constant. */
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99 #define mainCHECK_TIMER_PERIOD_MS ( 3000UL / portTICK_PERIOD_MS )
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101 /* The period at which the check timer will expire, in ms, if an error has been
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102 reported in one of the standard demo tasks, the check tasks, or the demo timer.
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103 ms are converted to the equivalent in ticks using the portTICK_PERIOD_MS
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105 #define mainERROR_CHECK_TIMER_PERIOD_MS ( 200UL / portTICK_PERIOD_MS )
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107 /* These two definitions are used to set the period of the demo timer. The demo
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108 timer period is always relative to the check timer period, so the check timer
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109 can determine if the demo timer has expired the expected number of times between
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110 its own executions. */
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111 #define mainDEMO_TIMER_INCREMENTS_PER_CHECK_TIMER_TIMEOUT ( 100UL )
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112 #define mainDEMO_TIMER_PERIOD_MS ( mainCHECK_TIMER_PERIOD_MS / mainDEMO_TIMER_INCREMENTS_PER_CHECK_TIMER_TIMEOUT )
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114 /* A block time of zero simply means "don't block". */
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115 #define mainDONT_BLOCK ( 0U )
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117 /* Values that are passed as parameters into the reg test tasks (purely to
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118 ensure task parameters are passed correctly). */
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119 #define mainREG_TEST_1_PARAMETER ( ( void * ) 0x1234 )
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120 #define mainREG_TEST_2_PARAMETER ( ( void * ) 0x5678 )
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122 /*-----------------------------------------------------------*/
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125 * The 'check' timer callback function, as described at the top of this file.
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127 static void prvCheckTimerCallback( TimerHandle_t xTimer );
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130 * The 'demo' timer callback function, as described at the top of this file.
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132 static void prvDemoTimerCallback( TimerHandle_t xTimer );
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135 * Functions that define the RegTest tasks, as described at the top of this
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136 * file. The RegTest tasks are written (necessarily) in assembler. Their
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137 * entry points are written in C to allow for easy checking of the task
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138 * parameter values.
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140 extern void vRegTest1Task( void );
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141 extern void vRegTest2Task( void );
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142 static void prvRegTest1Entry( void *pvParameters );
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143 static void prvRegTest2Entry( void *pvParameters );
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146 * Called if a RegTest task discovers an error as a mechanism to stop the
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147 * tasks loop counter incrementing (so the check task can detect that an
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150 void vRegTestError( void );
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153 * Called by main() to create the more comprehensive application if
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154 * mainCREATE_SIMPLE_BLINKY_DEMO_ONLY is set to 0.
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156 void main_full( void );
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158 /*-----------------------------------------------------------*/
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160 /* Variables that are incremented on each cycle of the two reg tests to allow
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161 the check timer to know that they are still executing. */
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162 unsigned short usRegTest1LoopCounter = 0, usRegTest2LoopCounter;
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164 /* The check timer. This uses prvCheckTimerCallback() as its callback
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166 static TimerHandle_t xCheckTimer = NULL;
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168 /* The demo timer. This uses prvDemoTimerCallback() as its callback function. */
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169 static TimerHandle_t xDemoTimer = NULL;
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171 /* This variable is incremented each time the demo timer expires. */
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172 static volatile unsigned long ulDemoSoftwareTimerCounter = 0UL;
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174 /*-----------------------------------------------------------*/
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176 void main_full( void )
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178 /* Creates all the tasks and timers, then starts the scheduler. */
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180 /* First create the 'standard demo' tasks. These are used to demonstrate
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181 API functions being used and also to test the kernel port. More information
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182 is provided on the FreeRTOS.org WEB site. */
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183 vStartDynamicPriorityTasks();
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184 vStartPolledQueueTasks( tskIDLE_PRIORITY );
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185 vCreateBlockTimeTasks();
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187 /* Create the RegTest tasks as described at the top of this file. */
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188 xTaskCreate( prvRegTest1Entry, /* The function that implements the task. */
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189 "Reg1", /* Text name for the task - to assist debugging only, not used by the kernel. */
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190 configMINIMAL_STACK_SIZE, /* The size of the stack allocated to the task (in words, not bytes). */
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191 mainREG_TEST_1_PARAMETER, /* The parameter passed into the task. */
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192 tskIDLE_PRIORITY, /* The priority at which the task will execute. */
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193 NULL ); /* Used to pass the handle of the created task out to the function caller - not used in this case. */
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195 xTaskCreate( prvRegTest2Entry, "Reg2", configMINIMAL_STACK_SIZE, mainREG_TEST_2_PARAMETER, tskIDLE_PRIORITY, NULL );
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197 /* Create the software timer that performs the 'check' functionality,
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198 as described at the top of this file. */
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199 xCheckTimer = xTimerCreate( "CheckTimer", /* A text name, purely to help debugging. */
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200 ( mainCHECK_TIMER_PERIOD_MS ), /* The timer period, in this case 3000ms (3s). */
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201 pdTRUE, /* This is an auto-reload timer, so xAutoReload is set to pdTRUE. */
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202 ( void * ) 0, /* The ID is not used, so can be set to anything. */
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203 prvCheckTimerCallback /* The callback function that inspects the status of all the other tasks. */
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206 /* Create the software timer that just increments a variable for demo
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208 xDemoTimer = xTimerCreate( "DemoTimer",/* A text name, purely to help debugging. */
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209 ( 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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210 pdTRUE, /* This is an auto-reload timer, so xAutoReload is set to pdTRUE. */
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211 ( void * ) 0, /* The ID is not used, so can be set to anything. */
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212 prvDemoTimerCallback /* The callback function that inspects the status of all the other tasks. */
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215 /* Start both the check timer and the demo timer. The timers won't actually
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216 start until the scheduler is started. */
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217 xTimerStart( xCheckTimer, mainDONT_BLOCK );
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218 xTimerStart( xDemoTimer, mainDONT_BLOCK );
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220 /* Finally start the scheduler running. */
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221 vTaskStartScheduler();
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223 /* If all is well execution will never reach here as the scheduler will be
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224 running. If this null loop is reached then it is likely there was
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225 insufficient FreeRTOS heap available for the idle task and/or timer task to
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226 be created. See http://www.freertos.org/a00111.html. */
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229 /*-----------------------------------------------------------*/
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231 static void prvDemoTimerCallback( TimerHandle_t xTimer )
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233 /* Remove compiler warning about unused parameter. */
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236 /* The demo timer has expired. All it does is increment a variable. The
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237 period of the demo timer is relative to that of the check timer, so the
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238 check timer knows how many times this variable should have been incremented
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239 between each execution of the check timer's own callback. */
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240 ulDemoSoftwareTimerCounter++;
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242 /*-----------------------------------------------------------*/
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244 static void prvCheckTimerCallback( TimerHandle_t xTimer )
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246 static portBASE_TYPE xChangedTimerPeriodAlready = pdFALSE, xErrorStatus = pdPASS;
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247 static unsigned short usLastRegTest1Counter = 0, usLastRegTest2Counter = 0;
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249 /* Remove compiler warning about unused parameter. */
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252 /* Inspect the status of the standard demo tasks. */
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253 if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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255 xErrorStatus = pdFAIL;
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258 if( xArePollingQueuesStillRunning() != pdTRUE )
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260 xErrorStatus = pdFAIL;
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263 if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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265 xErrorStatus = pdFAIL;
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268 /* Indicate an error if either of the reg test loop counters have not
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269 incremented since the last time this function was called. */
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270 if( usLastRegTest1Counter == usRegTest1LoopCounter )
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272 xErrorStatus = pdFAIL;
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276 usLastRegTest1Counter = usRegTest1LoopCounter;
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279 if( usLastRegTest2Counter == usRegTest2LoopCounter )
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281 xErrorStatus = pdFAIL;
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285 usLastRegTest2Counter = usRegTest2LoopCounter;
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288 /* Ensure that the demo software timer has expired
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289 mainDEMO_TIMER_INCREMENTS_PER_CHECK_TIMER_TIMEOUT times in between
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290 each call of this function. A critical section is not required to access
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291 ulDemoSoftwareTimerCounter as the variable is only accessed from another
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292 software timer callback, and only one software timer callback can be
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293 executing at any time. */
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294 if( ( ulDemoSoftwareTimerCounter < ( mainDEMO_TIMER_INCREMENTS_PER_CHECK_TIMER_TIMEOUT - 1 ) ) ||
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295 ( ulDemoSoftwareTimerCounter > ( mainDEMO_TIMER_INCREMENTS_PER_CHECK_TIMER_TIMEOUT + 1 ) )
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298 xErrorStatus = pdFAIL;
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302 ulDemoSoftwareTimerCounter = 0UL;
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305 if( ( xErrorStatus == pdFAIL ) && ( xChangedTimerPeriodAlready == pdFALSE ) )
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307 /* An error has occurred, but the timer's period has not yet been changed,
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308 change it now, and remember that it has been changed. Shortening the
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309 timer's period means the LED will toggle at a faster rate, giving a
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310 visible indication that something has gone wrong. */
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311 xChangedTimerPeriodAlready = pdTRUE;
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313 /* This call to xTimerChangePeriod() uses a zero block time. Functions
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314 called from inside of a timer callback function must *never* attempt to
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316 xTimerChangePeriod( xCheckTimer, ( mainERROR_CHECK_TIMER_PERIOD_MS ), mainDONT_BLOCK );
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319 /* Toggle the LED. The toggle rate will depend on whether or not an error
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320 has been found in any tasks. */
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321 LED_BIT = !LED_BIT;
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323 /*-----------------------------------------------------------*/
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325 void vRegTestError( void )
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327 /* Called by both reg test tasks if an error is found. There is no way out
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328 of this function so the loop counter of the calling task will stop
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329 incrementing, which will result in the check timer signaling an error. */
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332 /*-----------------------------------------------------------*/
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334 static void prvRegTest1Entry( void *pvParameters )
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336 /* If the parameter has its expected value then start the first reg test
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337 task (this is only done to test that the RTOS port is correctly handling
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338 task parameters. */
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339 if( pvParameters == mainREG_TEST_1_PARAMETER )
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348 /* It is not possible to get here as neither of the two functions called
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349 above will ever return. */
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351 /*-----------------------------------------------------------*/
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353 static void prvRegTest2Entry( void *pvParameters )
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355 /* If the parameter has its expected value then start the first reg test
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356 task (this is only done to test that the RTOS port is correctly handling
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357 task parameters. */
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358 if( pvParameters == mainREG_TEST_2_PARAMETER )
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367 /* It is not possible to get here as neither of the two functions called
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368 above will ever return. */
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370 /*-----------------------------------------------------------*/
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