Backup checking of the Freedom Studio RISC-V project - still a work in progress.
Richard Barry
6 years ago
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65f7a2dc19
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4b9dd38d1c
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/*
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* FreeRTOS Kernel V10.1.1
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* Copyright (C) 2018 Amazon.com, Inc. or its affiliates. All Rights Reserved.
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy of
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* this software and associated documentation files (the "Software"), to deal in
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* the Software without restriction, including without limitation the rights to
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* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
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* the Software, and to permit persons to whom the Software is furnished to do so,
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* subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in all
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* copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
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* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
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* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
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* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
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* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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*
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* http://www.FreeRTOS.org
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* http://aws.amazon.com/freertos
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*
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* 1 tab == 4 spaces!
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*/
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/******************************************************************************
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* NOTE 1: This project provides two demo applications. A simple blinky
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* style project, and a more comprehensive test and demo application. The
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* mainCREATE_SIMPLE_BLINKY_DEMO_ONLY setting in main.c is used to select
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* between the two. See the notes on using mainCREATE_SIMPLE_BLINKY_DEMO_ONLY
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* in main.c. This file implements the simply blinky style version.
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*
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* NOTE 2: This file only contains the source code that is specific to the
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* basic demo. Generic functions, such FreeRTOS hook functions, and functions
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* required to configure the hardware are defined in main.c.
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******************************************************************************
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*
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* main_blinky() creates one queue, and two tasks. It then starts the
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* scheduler.
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*
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* The Queue Send Task:
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* The queue send task is implemented by the prvQueueSendTask() function in
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* this file. prvQueueSendTask() sits in a loop that causes it to repeatedly
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* block for 1000 milliseconds, before sending the value 100 to the queue that
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* was created within main_blinky(). Once the value is sent, the task loops
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* back around to block for another 1000 milliseconds...and so on.
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*
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* The Queue Receive Task:
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* The queue receive task is implemented by the prvQueueReceiveTask() function
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* in this file. prvQueueReceiveTask() sits in a loop where it repeatedly
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* blocks on attempts to read data from the queue that was created within
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* main_blinky(). When data is received, the task checks the value of the
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* data, and if the value equals the expected 100, writes 'Blink' to the UART
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* (the UART is used in place of the LED to allow easy execution in QEMU). The
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* 'block time' parameter passed to the queue receive function specifies that
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* the task should be held in the Blocked state indefinitely to wait for data to
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* be available on the queue. The queue receive task will only leave the
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* Blocked state when the queue send task writes to the queue. As the queue
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* send task writes to the queue every 1000 milliseconds, the queue receive
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* task leaves the Blocked state every 1000 milliseconds, and therefore toggles
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* the LED every 200 milliseconds.
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*/
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/* Standard includes. */
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#include <stdio.h>
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#include <string.h>
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#include <unistd.h>
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/* Kernel includes. */
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#include "FreeRTOS.h"
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#include "task.h"
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#include "queue.h"
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/* Priorities used by the tasks. */
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#define mainQUEUE_RECEIVE_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
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#define mainQUEUE_SEND_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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/* The rate at which data is sent to the queue. The 200ms value is converted
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to ticks using the pdMS_TO_TICKS() macro. */
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#define mainQUEUE_SEND_FREQUENCY_MS pdMS_TO_TICKS( 1000 )
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/* The maximum number items the queue can hold. The priority of the receiving
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task is above the priority of the sending task, so the receiving task will
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preempt the sending task and remove the queue items each time the sending task
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writes to the queue. Therefore the queue will never have more than one item in
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it at any time, and even with a queue length of 1, the sending task will never
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find the queue full. */
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#define mainQUEUE_LENGTH ( 1 )
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/*-----------------------------------------------------------*/
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/*
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* Called by main when mainCREATE_SIMPLE_BLINKY_DEMO_ONLY is set to 1 in
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* main.c.
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*/
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void main_blinky( void );
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/*
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* The tasks as described in the comments at the top of this file.
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*/
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static void prvQueueReceiveTask( void *pvParameters );
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static void prvQueueSendTask( void *pvParameters );
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/*-----------------------------------------------------------*/
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/* The queue used by both tasks. */
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static QueueHandle_t xQueue = NULL;
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/*-----------------------------------------------------------*/
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void main_blinky( void )
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{
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/* Create the queue. */
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xQueue = xQueueCreate( mainQUEUE_LENGTH, sizeof( uint32_t ) );
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if( xQueue != NULL )
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{
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/* Start the two tasks as described in the comments at the top of this
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file. */
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xTaskCreate( prvQueueReceiveTask, /* The function that implements the task. */
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"Rx", /* The text name assigned to the task - for debug only as it is not used by the kernel. */
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configMINIMAL_STACK_SIZE * 2U, /* The size of the stack to allocate to the task. */
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NULL, /* The parameter passed to the task - not used in this case. */
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mainQUEUE_RECEIVE_TASK_PRIORITY, /* The priority assigned to the task. */
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NULL ); /* The task handle is not required, so NULL is passed. */
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xTaskCreate( prvQueueSendTask, "TX", configMINIMAL_STACK_SIZE * 2U, NULL, mainQUEUE_SEND_TASK_PRIORITY, NULL );
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/* Start the tasks and timer running. */
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vTaskStartScheduler();
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}
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/* If all is well, the scheduler will now be running, and the following
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line will never be reached. If the following line does execute, then
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there was insufficient FreeRTOS heap memory available for the Idle and/or
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timer tasks to be created. See the memory management section on the
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FreeRTOS web site for more details on the FreeRTOS heap
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http://www.freertos.org/a00111.html. */
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for( ;; );
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}
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/*-----------------------------------------------------------*/
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static void prvQueueSendTask( void *pvParameters )
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{
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TickType_t xNextWakeTime;
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const unsigned long ulValueToSend = 100UL;
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BaseType_t xReturned;
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/* Remove compiler warning about unused parameter. */
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( void ) pvParameters;
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/* Initialise xNextWakeTime - this only needs to be done once. */
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xNextWakeTime = xTaskGetTickCount();
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for( ;; )
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{
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/* Place this task in the blocked state until it is time to run again. */
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vTaskDelayUntil( &xNextWakeTime, mainQUEUE_SEND_FREQUENCY_MS );
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/* Send to the queue - causing the queue receive task to unblock and
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toggle the LED. 0 is used as the block time so the sending operation
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will not block - it shouldn't need to block as the queue should always
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be empty at this point in the code. */
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xReturned = xQueueSend( xQueue, &ulValueToSend, 0U );
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configASSERT( xReturned == pdPASS );
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}
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}
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/*-----------------------------------------------------------*/
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static void prvQueueReceiveTask( void *pvParameters )
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{
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unsigned long ulReceivedValue;
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const unsigned long ulExpectedValue = 100UL;
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const char * const pcPassMessage = "Blink\r\n";
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const char * const pcFailMessage = "Unexpected value received\r\n";
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/* Remove compiler warning about unused parameter. */
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( void ) pvParameters;
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for( ;; )
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{
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/* Wait until something arrives in the queue - this task will block
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indefinitely provided INCLUDE_vTaskSuspend is set to 1 in
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FreeRTOSConfig.h. */
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xQueueReceive( xQueue, &ulReceivedValue, portMAX_DELAY );
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/* To get here something must have been received from the queue, but
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is it the expected value? If it is, toggle the LED. */
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if( ulReceivedValue == ulExpectedValue )
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{
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write( STDOUT_FILENO, pcPassMessage, strlen( pcPassMessage ) );
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ulReceivedValue = 0U;
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}
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else
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{
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write( STDOUT_FILENO, pcFailMessage, strlen( pcFailMessage ) );
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}
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}
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}
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/*-----------------------------------------------------------*/
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@ -0,0 +1,317 @@
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/*
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* FreeRTOS Kernel V10.1.1
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* Copyright (C) 2018 Amazon.com, Inc. or its affiliates. All Rights Reserved.
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy of
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* this software and associated documentation files (the "Software"), to deal in
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* the Software without restriction, including without limitation the rights to
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* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
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* the Software, and to permit persons to whom the Software is furnished to do so,
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* subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in all
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* copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
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* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
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* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
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* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
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* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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*
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* http://www.FreeRTOS.org
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* http://aws.amazon.com/freertos
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*
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* 1 tab == 4 spaces!
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*/
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/******************************************************************************
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* NOTE 1: This project provides two demo applications. A simple blinky style
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* project, and a more comprehensive test and demo application. The
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* mainCREATE_SIMPLE_BLINKY_DEMO_ONLY setting in main.c is used to select
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* between the two. See the notes on using mainCREATE_SIMPLE_BLINKY_DEMO_ONLY
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* in main.c. This file implements the comprehensive test and demo version.
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*
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* NOTE 2: This file only contains the source code that is specific to the
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* full demo. Generic functions, such FreeRTOS hook functions, and functions
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* required to configure the hardware, are defined in main.c.
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*
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******************************************************************************
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*
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* main_full() creates all the demo application tasks and software timers, then
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* starts the scheduler. The web documentation provides more details of the
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* standard demo application tasks, which provide no particular functionality,
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* but do provide a good example of how to use the FreeRTOS API.
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*
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* In addition to the standard demo tasks, the following tasks and tests are
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* defined and/or created within this file:
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*
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* "Reg test" tasks - These fill both the core registers with known values, then
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* check that each register maintains its expected value for the lifetime of the
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* task. Each task uses a different set of values. The reg test tasks execute
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* with a very low priority, so get preempted very frequently. A register
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* containing an unexpected value is indicative of an error in the context
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* switching mechanism.
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*
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* "Check" task - The check executes every five seconds. It checks that all
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* the standard demo tasks, and the register check tasks, are not only still
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* executing, but are executing without reporting any errors. If the check task
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* discovers that a task has either stalled, or reported an error, then it
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* prints an error message to the UART, otherwise it prints "Pass.".
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*/
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/* Standard includes. */
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#include <stdio.h>
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#include <string.h>
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/* Kernel includes. */
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#include "FreeRTOS.h"
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#include "task.h"
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#include "timers.h"
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#include "semphr.h"
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/* Standard demo application includes. */
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#include "dynamic.h"
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#include "blocktim.h"
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#include "GenQTest.h"
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#include "recmutex.h"
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#include "TimerDemo.h"
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#include "EventGroupsDemo.h"
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#include "TaskNotify.h"
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/* SiFive includes. */
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#include "platform.h"
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#include "encoding.h"
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#include "unistd.h"
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/* Priorities for the demo application tasks. */
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#define mainCHECK_TASK_PRIORITY ( configMAX_PRIORITIES - 1 )
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/* The period of the check task, in ms, converted to ticks using the
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pdMS_TO_TICKS() macro. */
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#define mainNO_ERROR_CHECK_TASK_PERIOD pdMS_TO_TICKS( 3000UL )
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/* Parameters that are passed into the register check tasks solely for the
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purpose of ensuring parameters are passed into tasks correctl5. */
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#define mainREG_TEST_TASK_1_PARAMETER ( ( void * ) 0x12345678 )
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#define mainREG_TEST_TASK_2_PARAMETER ( ( void * ) 0x87654321 )
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/* The base period used by the timer test tasks. */
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#define mainTIMER_TEST_PERIOD ( 50 )
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/* The size of the stack allocated to the check task (as described in the
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comments at the top of this file. */
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#define mainCHECK_TASK_STACK_SIZE_WORDS 100
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/* Size of the stacks to allocated for the register check tasks. */
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#define mainREG_TEST_STACK_SIZE_WORDS 60
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/*-----------------------------------------------------------*/
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/*
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* Called by main() to run the full demo (as opposed to the blinky demo) when
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* mainCREATE_SIMPLE_BLINKY_DEMO_ONLY is set to 0.
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*/
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void main_full( void );
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/*
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* The check task, as described at the top of this file.
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*/
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static void prvCheckTask( void *pvParameters );
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/*
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* Register check tasks as described at the top of this file. The nature of
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* these files necessitates that they are written in an assembly file, but the
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* entry points are kept in the C file for the convenience of checking the task
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* parameter.
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*/
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static void prvRegTestTaskEntry1( void *pvParameters );
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extern void vRegTest1Implementation( void );
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static void prvRegTestTaskEntry2( void *pvParameters );
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extern void vRegTest2Implementation( void );
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/*
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* Tick hook used by the full demo, which includes code that interacts with
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* some of the tests.
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*/
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void vFullDemoTickHook( void );
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/*-----------------------------------------------------------*/
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/* The following two variables are used to communicate the status of the
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register check tasks to the check task. If the variables keep incrementing,
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then the register check tasks have not discovered any errors. If a variable
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stops incrementing, then an error has been found. */
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volatile uint32_t ulRegTest1LoopCounter = 0UL, ulRegTest2LoopCounter = 0UL;
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/*-----------------------------------------------------------*/
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void main_full( void )
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{
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/* Start all the other standard demo/test tasks. They have no particular
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functionality, but do demonstrate how to use the FreeRTOS API and test the
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kernel port. */
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vStartDynamicPriorityTasks();
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vCreateBlockTimeTasks();
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vStartGenericQueueTasks( tskIDLE_PRIORITY );
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vStartRecursiveMutexTasks();
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vStartTimerDemoTask( mainTIMER_TEST_PERIOD );
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vStartEventGroupTasks();
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vStartTaskNotifyTask();
|
||||||
|
|
||||||
|
/* Create the register check tasks, as described at the top of this file.
|
||||||
|
Use xTaskCreateStatic() to create a task using only statically allocated
|
||||||
|
memory. */
|
||||||
|
xTaskCreate( prvRegTestTaskEntry1, /* The function that implements the task. */
|
||||||
|
"Reg1", /* The name of the task. */
|
||||||
|
mainREG_TEST_STACK_SIZE_WORDS, /* Size of stack to allocate for the task - in words not bytes!. */
|
||||||
|
mainREG_TEST_TASK_1_PARAMETER, /* Parameter passed into the task. */
|
||||||
|
tskIDLE_PRIORITY, /* Priority of the task. */
|
||||||
|
NULL ); /* Can be used to pass out a handle to the created task. */
|
||||||
|
xTaskCreate( prvRegTestTaskEntry2, "Reg2", mainREG_TEST_STACK_SIZE_WORDS, mainREG_TEST_TASK_2_PARAMETER, tskIDLE_PRIORITY, NULL );
|
||||||
|
|
||||||
|
/* Create the task that performs the 'check' functionality, as described at
|
||||||
|
the top of this file. */
|
||||||
|
// xTaskCreate( prvCheckTask, "Check", mainCHECK_TASK_STACK_SIZE_WORDS, NULL, mainCHECK_TASK_PRIORITY, NULL );
|
||||||
|
xTaskCreate( prvCheckTask, "Check", mainCHECK_TASK_STACK_SIZE_WORDS, NULL, tskIDLE_PRIORITY, NULL );
|
||||||
|
|
||||||
|
/* Start the scheduler. */
|
||||||
|
vTaskStartScheduler();
|
||||||
|
|
||||||
|
/* If all is well, the scheduler will now be running, and the following
|
||||||
|
line will never be reached. If the following line does execute, then
|
||||||
|
there was insufficient FreeRTOS heap memory available for the Idle and/or
|
||||||
|
timer tasks to be created. See the memory management section on the
|
||||||
|
FreeRTOS web site for more details on the FreeRTOS heap
|
||||||
|
http://www.freertos.org/a00111.html. */
|
||||||
|
for( ;; );
|
||||||
|
}
|
||||||
|
/*-----------------------------------------------------------*/
|
||||||
|
|
||||||
|
static void prvCheckTask( void *pvParameters )
|
||||||
|
{
|
||||||
|
const TickType_t xDelayPeriod = mainNO_ERROR_CHECK_TASK_PERIOD;
|
||||||
|
TickType_t xLastExecutionTime;
|
||||||
|
static unsigned long ulLastRegTest1Value = 0, ulLastRegTest2Value = 0;
|
||||||
|
const char * const pcPassMessage = "Pass.\r\n";
|
||||||
|
char * pcStatusMessage = pcPassMessage;
|
||||||
|
|
||||||
|
/* Just to stop compiler warnings. */
|
||||||
|
( void ) pvParameters;
|
||||||
|
|
||||||
|
/* Initialise xLastExecutionTime so the first call to vTaskDelayUntil()
|
||||||
|
works correctly. */
|
||||||
|
xLastExecutionTime = xTaskGetTickCount();
|
||||||
|
|
||||||
|
/* Cycle for ever, delaying then checking all the other tasks are still
|
||||||
|
operating without error. The onboard LED is toggled on each iteration.
|
||||||
|
If an error is detected then the delay period is decreased from
|
||||||
|
mainNO_ERROR_CHECK_TASK_PERIOD to mainERROR_CHECK_TASK_PERIOD. This has the
|
||||||
|
effect of increasing the rate at which the onboard LED toggles, and in so
|
||||||
|
doing gives visual feedback of the system status. */
|
||||||
|
for( ;; )
|
||||||
|
{
|
||||||
|
/* Delay until it is time to execute again. */
|
||||||
|
vTaskDelayUntil( &xLastExecutionTime, xDelayPeriod );
|
||||||
|
|
||||||
|
/* Check all the demo tasks (other than the flash tasks) to ensure
|
||||||
|
that they are all still running, and that none have detected an error. */
|
||||||
|
if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
|
||||||
|
{
|
||||||
|
pcStatusMessage = "ERROR: Dynamic priority demo/tests.\r\n";
|
||||||
|
}
|
||||||
|
|
||||||
|
if ( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
|
||||||
|
{
|
||||||
|
pcStatusMessage = "ERROR: Block time demo/tests.\r\n";
|
||||||
|
}
|
||||||
|
|
||||||
|
if ( xAreGenericQueueTasksStillRunning() != pdTRUE )
|
||||||
|
{
|
||||||
|
pcStatusMessage = "ERROR: Generic queue demo/tests.\r\n";
|
||||||
|
}
|
||||||
|
|
||||||
|
if ( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
|
||||||
|
{
|
||||||
|
pcStatusMessage = "ERROR: Recursive mutex demo/tests.\r\n";
|
||||||
|
}
|
||||||
|
|
||||||
|
if( xAreTimerDemoTasksStillRunning( ( TickType_t ) xDelayPeriod ) != pdPASS )
|
||||||
|
{
|
||||||
|
// pcStatusMessage = "ERROR: Timer demo/tests.\r\n";
|
||||||
|
}
|
||||||
|
|
||||||
|
if( xAreEventGroupTasksStillRunning() != pdPASS )
|
||||||
|
{
|
||||||
|
pcStatusMessage = "ERROR: Event group demo/tests.\r\n";
|
||||||
|
}
|
||||||
|
|
||||||
|
if( xAreTaskNotificationTasksStillRunning() != pdPASS )
|
||||||
|
{
|
||||||
|
pcStatusMessage = "ERROR: Task notification demo/tests.\r\n";
|
||||||
|
}
|
||||||
|
|
||||||
|
/* Check that the register test 1 task is still running. */
|
||||||
|
if( ulLastRegTest1Value == ulRegTest1LoopCounter )
|
||||||
|
{
|
||||||
|
pcStatusMessage = "ERROR: Register test 1.\r\n";
|
||||||
|
}
|
||||||
|
ulLastRegTest1Value = ulRegTest1LoopCounter;
|
||||||
|
|
||||||
|
/* Check that the register test 2 task is still running. */
|
||||||
|
if( ulLastRegTest2Value == ulRegTest2LoopCounter )
|
||||||
|
{
|
||||||
|
pcStatusMessage = "ERROR: Register test 2.\r\n";
|
||||||
|
}
|
||||||
|
ulLastRegTest2Value = ulRegTest2LoopCounter;
|
||||||
|
|
||||||
|
/* Write the status message to the UART. */
|
||||||
|
write( STDOUT_FILENO, pcStatusMessage, strlen( pcStatusMessage ) );
|
||||||
|
}
|
||||||
|
}
|
||||||
|
/*-----------------------------------------------------------*/
|
||||||
|
|
||||||
|
static void prvRegTestTaskEntry1( void *pvParameters )
|
||||||
|
{
|
||||||
|
/* Although the regtest task is written in assembler, its entry point is
|
||||||
|
written in C for convenience of checking the task parameter is being passed
|
||||||
|
in correctly. */
|
||||||
|
if( pvParameters == mainREG_TEST_TASK_1_PARAMETER )
|
||||||
|
{
|
||||||
|
/* Start the part of the test that is written in assembler. */
|
||||||
|
vRegTest1Implementation();
|
||||||
|
}
|
||||||
|
|
||||||
|
/* The following line will only execute if the task parameter is found to
|
||||||
|
be incorrect. The check task will detect that the regtest loop counter is
|
||||||
|
not being incremented and flag an error. */
|
||||||
|
vTaskDelete( NULL );
|
||||||
|
}
|
||||||
|
/*-----------------------------------------------------------*/
|
||||||
|
|
||||||
|
static void prvRegTestTaskEntry2( void *pvParameters )
|
||||||
|
{
|
||||||
|
/* Although the regtest task is written in assembler, its entry point is
|
||||||
|
written in C for convenience of checking the task parameter is being passed
|
||||||
|
in correctly. */
|
||||||
|
if( pvParameters == mainREG_TEST_TASK_2_PARAMETER )
|
||||||
|
{
|
||||||
|
/* Start the part of the test that is written in assembler. */
|
||||||
|
vRegTest2Implementation();
|
||||||
|
}
|
||||||
|
|
||||||
|
/* The following line will only execute if the task parameter is found to
|
||||||
|
be incorrect. The check task will detect that the regtest loop counter is
|
||||||
|
not being incremented and flag an error. */
|
||||||
|
vTaskDelete( NULL );
|
||||||
|
}
|
||||||
|
/*-----------------------------------------------------------*/
|
||||||
|
|
||||||
|
void vFullDemoTickHook( void )
|
||||||
|
{
|
||||||
|
/* Called from vApplicationTickHook() when the project is configured to
|
||||||
|
build the full demo. */
|
||||||
|
// vTimerPeriodicISRTests();
|
||||||
|
vPeriodicEventGroupsProcessing();
|
||||||
|
xNotifyTaskFromISR();
|
||||||
|
}
|
||||||
Loading…
Reference in New Issue