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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71 * This is a very simple demo that creates two tasks and one queue. One task
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72 * (the queue receive task) blocks on the queue to wait for data to arrive,
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73 * toggling an LED each time '100' is received. The other task (the queue send
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74 * task) repeatedly blocks for a fixed period before sending '100' to the queue
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75 * (causing the first task to toggle the LED).
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77 * For a much more complete and complex example select either the Debug or
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78 * Debug_with_optimisation build configurations within the HEW IDE.
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81 /* Hardware specific includes. */
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82 #include "iodefine.h"
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84 /* Kernel includes. */
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85 #include "FreeRTOS.h"
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89 /* Priorities at which the tasks are created. */
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90 #define configQUEUE_RECEIVE_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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91 #define configQUEUE_SEND_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
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93 /* The rate at which data is sent to the queue, specified in milliseconds. */
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94 #define mainQUEUE_SEND_FREQUENCY_MS ( 500 / portTICK_PERIOD_MS )
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96 /* The number of items the queue can hold. This is 1 as the receive task
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97 will remove items as they are added so the send task should always find the
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99 #define mainQUEUE_LENGTH ( 1 )
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102 * The tasks as defined at the top of this file.
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104 static void prvQueueReceiveTask( void *pvParameters );
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105 static void prvQueueSendTask( void *pvParameters );
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107 /* The queue used by both tasks. */
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108 static QueueHandle_t xQueue = NULL;
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110 /* This variable is not used by this simple Blinky example. It is defined
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111 purely to allow the project to link as it is used by the full build
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113 volatile unsigned long ulHighFrequencyTickCount = 0UL;
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114 /*-----------------------------------------------------------*/
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118 extern void HardwareSetup( void );
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120 /* Renesas provided CPU configuration routine. The clocks are configured in
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124 /* Turn all LEDs off. */
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125 vParTestInitialise();
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127 /* Create the queue. */
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128 xQueue = xQueueCreate( mainQUEUE_LENGTH, sizeof( unsigned long ) );
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130 if( xQueue != NULL )
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132 /* Start the two tasks as described at the top of this file. */
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133 xTaskCreate( prvQueueReceiveTask, "Rx", configMINIMAL_STACK_SIZE, NULL, configQUEUE_RECEIVE_TASK_PRIORITY, NULL );
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134 xTaskCreate( prvQueueSendTask, "TX", configMINIMAL_STACK_SIZE, NULL, configQUEUE_SEND_TASK_PRIORITY, NULL );
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136 /* Start the tasks running. */
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137 vTaskStartScheduler();
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140 /* If all is well the next line of code will not be reached as the scheduler
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141 will be running. If the next line is reached then it is likely that there was
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142 insufficient heap available for the idle task to be created. */
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145 /*-----------------------------------------------------------*/
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147 static void prvQueueSendTask( void *pvParameters )
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149 TickType_t xNextWakeTime;
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150 const unsigned long ulValueToSend = 100UL;
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152 /* Initialise xNextWakeTime - this only needs to be done once. */
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153 xNextWakeTime = xTaskGetTickCount();
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157 /* Place this task in the blocked state until it is time to run again.
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158 The block state is specified in ticks, the constant used converts ticks
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160 vTaskDelayUntil( &xNextWakeTime, mainQUEUE_SEND_FREQUENCY_MS );
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162 /* Send to the queue - causing the queue receive task to flash its LED. 0
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163 is used so the send does not block - it shouldn't need to as the queue
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164 should always be empty here (it should always be empty because the task
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165 removing items from the queue has a higher priority than the task adding
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166 things to the queue). */
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167 xQueueSend( xQueue, &ulValueToSend, 0UL );
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170 /*-----------------------------------------------------------*/
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172 static void prvQueueReceiveTask( void *pvParameters )
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174 unsigned long ulReceivedValue;
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178 /* Wait until something arives in the queue - this will block
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179 indefinitely provided INCLUDE_vTaskSuspend is set to 1 in
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180 FreeRTOSConfig.h. */
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181 xQueueReceive( xQueue, &ulReceivedValue, portMAX_DELAY );
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183 /* To get here something must have arrived, but is it the expected
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184 value? If it is, toggle the LED. */
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185 if( ulReceivedValue == 100UL )
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187 vParTestToggleLED( 0 );
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191 /*-----------------------------------------------------------*/
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193 /* A callback function named vApplicationSetupTimerInterrupt() must be defined
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194 to configure a tick interrupt source, and configTICK_VECTOR set in
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195 FreeRTOSConfig.h to install the tick interrupt handler in the correct position
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196 in the vector table. This example uses a compare match timer. It can be
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197 into any FreeRTOS project, provided the same compare match timer is available. */
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198 void vApplicationSetupTimerInterrupt( void )
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200 /* Enable compare match timer 0. */
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203 /* Interrupt on compare match. */
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204 CMT0.CMCR.BIT.CMIE = 1;
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206 /* Set the compare match value. */
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207 CMT0.CMCOR = ( unsigned short ) ( ( ( configPERIPHERAL_CLOCK_HZ / configTICK_RATE_HZ ) -1 ) / 8 );
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209 /* Divide the PCLK by 8. */
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210 CMT0.CMCR.BIT.CKS = 0;
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212 /* Enable the interrupt... */
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213 _IEN( _CMT0_CMI0 ) = 1;
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215 /* ...and set its priority to the application defined kernel priority. */
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216 _IPR( _CMT0_CMI0 ) = configKERNEL_INTERRUPT_PRIORITY;
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218 /* Start the timer. */
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219 CMT.CMSTR0.BIT.STR0 = 1;
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221 /*-----------------------------------------------------------*/
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223 /* If configUSE_MALLOC_FAILED_HOOK is set to 1 in FreeRTOSConfig.h, then this
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224 function will be called if pvPortMalloc() returns NULL because it has exhausted
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225 the available FreeRTOS heap space. See http://www.freertos.org/a00111.html. */
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226 void vApplicationMallocFailedHook( void )
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230 /*-----------------------------------------------------------*/
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232 /* If configCHECK_FOR_STACK_OVERFLOW is set to either 1 or 2 in
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233 FreeRTOSConfig.h, then this function will be called if a task overflows its
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235 http://www.freertos.org/Stacks-and-stack-overflow-checking.html. */
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236 void vApplicationStackOverflowHook( TaskHandle_t pxTask, char *pcTaskName )
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240 /*-----------------------------------------------------------*/
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242 /* If configUSE_IDLE_HOOK is set to 1 in FreeRTOSConfig.h, then this function
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243 will be called on each iteration of the idle task. See
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244 http://www.freertos.org/a00016.html */
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245 void vApplicationIdleHook( void )
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247 /* Just to prevent the variable getting optimised away. */
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248 ( void ) ulHighFrequencyTickCount;
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250 /*-----------------------------------------------------------*/
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