MicroBlaze projects: Split build configurations into blinky and full. Implement partest.c. Everything still a work in progress.
Richard Barry
14 years ago
parent
9f0bf057e6
commit
4cda2df265
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/*
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FreeRTOS V7.0.1 - Copyright (C) 2011 Real Time Engineers Ltd.
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***************************************************************************
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* *
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* FreeRTOS tutorial books are available in pdf and paperback. *
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* Complete, revised, and edited pdf reference manuals are also *
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* available. *
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* *
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* Purchasing FreeRTOS documentation will not only help you, by *
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* ensuring you get running as quickly as possible and with an *
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* in-depth knowledge of how to use FreeRTOS, it will also help *
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* the FreeRTOS project to continue with its mission of providing *
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* professional grade, cross platform, de facto standard solutions *
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* for microcontrollers - completely free of charge! *
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* *
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* >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
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* *
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* Thank you for using FreeRTOS, and thank you for your support! *
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* *
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***************************************************************************
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This file is part of the FreeRTOS distribution.
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FreeRTOS is free software; you can redistribute it and/or modify it under
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the terms of the GNU General Public License (version 2) as published by the
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Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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>>>NOTE<<< The modification to the GPL is included to allow you to
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distribute a combined work that includes FreeRTOS without being obliged to
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provide the source code for proprietary components outside of the FreeRTOS
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kernel. FreeRTOS is distributed in the hope that it will be useful, but
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WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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more details. You should have received a copy of the GNU General Public
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License and the FreeRTOS license exception along with FreeRTOS; if not it
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can be viewed here: http://www.freertos.org/a00114.html and also obtained
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by writing to Richard Barry, contact details for whom are available on the
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FreeRTOS WEB site.
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1 tab == 4 spaces!
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http://www.FreeRTOS.org - Documentation, latest information, license and
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contact details.
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http://www.SafeRTOS.com - A version that is certified for use in safety
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critical systems.
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http://www.OpenRTOS.com - Commercial support, development, porting,
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licensing and training services.
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*/
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/* ****************************************************************************
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* This project includes a lot of tasks and tests and is therefore complex.
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* If you would prefer a much simpler project to get started with then select
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* the 'Blinky' build configuration within the Embedded Workbench IDE.
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* ****************************************************************************
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*
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* Creates all the demo application tasks, then starts the scheduler. The web
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* documentation provides more details of the standard demo application tasks,
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* which provide no particular functionality but do provide a good example of
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* how to use the FreeRTOS API. The tasks defined in flop.c are included in the
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* set of standard demo tasks to ensure the floating point unit gets some
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* exercise.
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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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* Webserver ("uIP") task - This serves a number of dynamically generated WEB
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* pages to a standard WEB browser. The IP and MAC addresses are configured by
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* constants defined at the bottom of FreeRTOSConfig.h. Use either a standard
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* Ethernet cable to connect through a hug, or a cross over (point to point)
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* cable to connect directly. Ensure the IP address used is compatible with the
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* IP address of the machine running the browser - the easiest way to achieve
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* this is to ensure the first three octets of the IP addresses are the same.
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*
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* "Reg test" tasks - These fill the registers with known values, then check
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* that each register still contains its expected value. Each task uses
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* different values. The tasks run with very low priority so get preempted
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* very frequently. A check variable is incremented on each iteration of the
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* test loop. A register containing an unexpected value is indicative of an
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* error in the context switching mechanism and will result in a branch to a
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* null loop - which in turn will prevent the check variable from incrementing
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* any further and allow the check task (described below) to determine that an
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* error has occurred. The nature of the reg test tasks necessitates that they
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* are written in assembly code.
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*
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* "Check" task - This only executes every five seconds but has a high priority
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* to ensure it gets processor time. Its main function is to check that all the
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* standard demo tasks are still operational. While no errors have been
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* discovered the check task will toggle LED 5 every 5 seconds - the toggle
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* rate increasing to 200ms being a visual indication that at least one task has
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* reported unexpected behaviour.
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*
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* "High frequency timer test" - A high frequency periodic interrupt is
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* generated using a timer - the interrupt is assigned a priority above
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* configMAX_SYSCALL_INTERRUPT_PRIORITY so should not be effected by anything
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* the kernel is doing. The frequency and priority of the interrupt, in
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* combination with other standard tests executed in this demo, should result
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* in interrupts nesting at least 3 and probably 4 deep. This test is only
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* included in build configurations that have the optimiser switched on. In
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* optimised builds the count of high frequency ticks is used as the time base
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* for the run time stats.
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*
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* *NOTE 1* If LED5 is toggling every 5 seconds then all the demo application
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* tasks are executing as expected and no errors have been reported in any
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* tasks. The toggle rate increasing to 200ms indicates that at least one task
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* has reported unexpected behaviour.
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*
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* *NOTE 2* vApplicationSetupTimerInterrupt() is called by the kernel to let
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* the application set up a timer to generate the tick interrupt. In this
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* example a compare match timer is used for this purpose.
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*
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* *NOTE 3* The CPU must be in Supervisor mode when the scheduler is started.
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* The PowerON_Reset_PC() supplied in resetprg.c with this demo has
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* Change_PSW_PM_to_UserMode() commented out to ensure this is the case.
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*
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* *NOTE 4* The IntQueue common demo tasks test interrupt nesting and make use
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* of all the 8bit timers (as two cascaded 16bit units).
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*/
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/* Standard includes. */
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#include <string.h>
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#include <stdio.h>
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/* BSP includes. */
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#include "xenv_standalone.h"
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#include "xtmrctr.h"
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#include "xil_exception.h"
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#include "microblaze_exceptions_g.h"
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#include "xgpio.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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/* Standard demo includes. */
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#include "partest.h"
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#include "flash.h"
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#include "BlockQ.h"
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#include "death.h"
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#include "blocktim.h"
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#include "semtest.h"
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#include "PollQ.h"
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#include "GenQTest.h"
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#include "QPeek.h"
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#include "recmutex.h"
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#include "flop.h"
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#include "dynamic.h"
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#define xPrintf( x )
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/* Values that are passed into the reg test tasks using the task parameter. The
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tasks check that the values are passed in correctly. */
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#define mainREG_TEST_1_PARAMETER ( 0x12121212UL )
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#define mainREG_TEST_2_PARAMETER ( 0x12345678UL )
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/* Priorities at which the tasks are created. */
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#define mainCHECK_TASK_PRIORITY ( configMAX_PRIORITIES - 1 )
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#define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 1 )
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#define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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#define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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#define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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#define mainFLASH_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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#define mainuIP_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
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#define mainINTEGER_TASK_PRIORITY ( tskIDLE_PRIORITY )
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#define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )
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#define mainFLOP_TASK_PRIORITY ( tskIDLE_PRIORITY )
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/* The WEB server uses string handling functions, which in turn use a bit more
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stack than most of the other tasks. */
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#define mainuIP_STACK_SIZE ( configMINIMAL_STACK_SIZE * 3 )
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/* The LED toggled by the check task. */
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#define mainCHECK_LED ( 5 )
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/* The rate at which mainCHECK_LED will toggle when all the tasks are running
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without error. Controlled by the check task as described at the top of this
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file. */
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#define mainNO_ERROR_CYCLE_TIME ( 5000 / portTICK_RATE_MS )
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/* The rate at which mainCHECK_LED will toggle when an error has been reported
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by at least one task. Controlled by the check task as described at the top of
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this file. */
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#define mainERROR_CYCLE_TIME ( 200 / portTICK_RATE_MS )
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/*
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* vApplicationMallocFailedHook() will only be called if
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* configUSE_MALLOC_FAILED_HOOK is set to 1 in FreeRTOSConfig.h. It is a hook
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* function that will execute if a call to pvPortMalloc() fails.
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* pvPortMalloc() is called internally by the kernel whenever a task, queue or
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* semaphore is created. It is also called by various parts of the demo
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* application.
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*/
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void vApplicationMallocFailedHook( void );
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/*
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* vApplicationIdleHook() will only be called if configUSE_IDLE_HOOK is set to 1
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* in FreeRTOSConfig.h. It is a hook function that is called on each iteration
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* of the idle task. It is essential that code added to this hook function
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* never attempts to block in any way (for example, call xQueueReceive() with
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* a block time specified). If the application makes use of the vTaskDelete()
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* API function (as this demo application does) then it is also important that
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* vApplicationIdleHook() is permitted to return to its calling function because
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* it is the responsibility of the idle task to clean up memory allocated by the
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* kernel to any task that has since been deleted.
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*/
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void vApplicationIdleHook( void );
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/*
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* vApplicationStackOverflowHook() will only be called if
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* configCHECK_FOR_STACK_OVERFLOW is set to a non-zero value. The handle and
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* name of the offending task should be passed in the function parameters, but
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* it is possible that the stack overflow will have corrupted these - in which
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* case pxCurrentTCB can be inspected to find the same information.
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*/
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void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed char *pcTaskName );
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/*
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* The reg test tasks as described at the top of this file.
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*/
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static void prvRegTest1Task( void *pvParameters );
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static void prvRegTest2Task( void *pvParameters );
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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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static void prvSetupHardware( void );
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/*
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* Contains the implementation of the WEB server.
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*/
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//_RB_extern void vuIP_Task( void *pvParameters );
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/*-----------------------------------------------------------*/
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/* Variables that are incremented on each iteration of the reg test tasks -
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provided the tasks have not reported any errors. The check task inspects these
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variables to ensure they are still incrementing as expected. If a variable
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stops incrementing then it is likely that its associate task has stalled. */
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unsigned long ulRegTest1CycleCount = 0UL, ulRegTest2CycleCount = 0UL;
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/* The status message that is displayed at the bottom of the "task stats" web
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page, which is served by the uIP task. This will report any errors picked up
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by the reg test task. */
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static const char *pcStatusMessage = NULL;
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static XTmrCtr xTimer0Instance;
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/*-----------------------------------------------------------*/
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int main(void)
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{
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/* Configure the interrupt controller, LED outputs and button inputs. */
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prvSetupHardware();
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/* Start the reg test tasks which test the context switching mechanism. */
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xTaskCreate( prvRegTest1Task, ( const signed char * const ) "RegTst1", configMINIMAL_STACK_SIZE, ( void * ) mainREG_TEST_1_PARAMETER, tskIDLE_PRIORITY, NULL );
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xTaskCreate( prvRegTest2Task, ( const signed char * const ) "RegTst2", configMINIMAL_STACK_SIZE, ( void * ) mainREG_TEST_2_PARAMETER, tskIDLE_PRIORITY, NULL );
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/* The web server task. */
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//_RB_ xTaskCreate( vuIP_Task, "uIP", mainuIP_STACK_SIZE, NULL, mainuIP_TASK_PRIORITY, NULL );
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/* Start the check task as described at the top of this file. */
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xTaskCreate( prvCheckTask, ( const signed char * const ) "Check", configMINIMAL_STACK_SIZE * 3, NULL, mainCHECK_TASK_PRIORITY, NULL );
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/* Create the standard demo tasks. */
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vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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vCreateBlockTimeTasks();
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vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
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vStartLEDFlashTasks( mainFLASH_TASK_PRIORITY );
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vStartQueuePeekTasks();
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vStartRecursiveMutexTasks();
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vStartMathTasks( mainFLOP_TASK_PRIORITY );
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/* The suicide tasks must be created last as they need to know how many
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tasks were running prior to their creation in order to ascertain whether
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or not the correct/expected number of tasks are running at any given time. */
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vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
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/* Start the tasks running. */
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vTaskStartScheduler();
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/* If all is well we will never reach here as the scheduler will now be
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running. If we do reach here then it is likely that there was insufficient
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heap available for the idle task to be created. */
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for( ;; );
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}
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/*-----------------------------------------------------------*/
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static void prvCheckTask( void *pvParameters )
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{
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static volatile unsigned long ulLastRegTest1CycleCount = 0UL, ulLastRegTest2CycleCount = 0UL;
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portTickType xNextWakeTime, xCycleFrequency = mainNO_ERROR_CYCLE_TIME;
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extern void vSetupHighFrequencyTimer( void );
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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, xCycleFrequency );
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/* Check the standard demo tasks are running without error. */
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if( xAreGenericQueueTasksStillRunning() != pdTRUE )
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{
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/* Increase the rate at which this task cycles, which will increase the
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rate at which mainCHECK_LED flashes to give visual feedback that an error
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has occurred. */
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pcStatusMessage = "Error: GenQueue";
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xPrintf( pcStatusMessage );
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}
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if( xAreQueuePeekTasksStillRunning() != pdTRUE )
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{
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pcStatusMessage = "Error: QueuePeek\r\n";
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xPrintf( pcStatusMessage );
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}
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if( xAreBlockingQueuesStillRunning() != pdTRUE )
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{
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pcStatusMessage = "Error: BlockQueue\r\n";
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xPrintf( pcStatusMessage );
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}
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if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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{
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pcStatusMessage = "Error: BlockTime\r\n";
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xPrintf( pcStatusMessage );
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}
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if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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{
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pcStatusMessage = "Error: SemTest\r\n";
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xPrintf( pcStatusMessage );
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}
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if( xArePollingQueuesStillRunning() != pdTRUE )
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{
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pcStatusMessage = "Error: PollQueue\r\n";
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xPrintf( pcStatusMessage );
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}
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if( xIsCreateTaskStillRunning() != pdTRUE )
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{
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pcStatusMessage = "Error: Death\r\n";
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xPrintf( pcStatusMessage );
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}
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if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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{
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pcStatusMessage = "Error: RecMutex\r\n";
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xPrintf( pcStatusMessage );
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}
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if( xAreMathsTaskStillRunning() != pdPASS )
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{
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pcStatusMessage = "Error: Flop\r\n";
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xPrintf( pcStatusMessage );
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}
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/* Check the reg test tasks are still cycling. They will stop incrementing
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their loop counters if they encounter an error. */
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if( ulRegTest1CycleCount == ulLastRegTest1CycleCount )
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{
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pcStatusMessage = "Error: RegTest1\r\n";
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xPrintf( pcStatusMessage );
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}
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if( ulRegTest2CycleCount == ulLastRegTest2CycleCount )
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{
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pcStatusMessage = "Error: RegTest2\r\n";
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xPrintf( pcStatusMessage );
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}
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ulLastRegTest1CycleCount = ulRegTest1CycleCount;
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ulLastRegTest2CycleCount = ulRegTest2CycleCount;
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/* Toggle the check LED to give an indication of the system status. If
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the LED toggles every 5 seconds then everything is ok. A faster toggle
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indicates an error. */
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vParTestToggleLED( mainCHECK_LED );
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/* Ensure the LED toggles at a faster rate if an error has occurred. */
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if( pcStatusMessage != NULL )
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{
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xCycleFrequency = mainERROR_CYCLE_TIME;
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}
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}
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}
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/*-----------------------------------------------------------*/
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void vApplicationSetupTimerInterrupt( void )
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{
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portBASE_TYPE xStatus;
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const unsigned char ucTimerCounterNumber = ( unsigned char ) 0U;
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const unsigned long ulCounterValue = ( ( XPAR_AXI_TIMER_0_CLOCK_FREQ_HZ / configTICK_RATE_HZ ) - 1UL );
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extern void vTickISR( void *pvUnused );
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/* Initialise the timer/counter. */
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xStatus = XTmrCtr_Initialize( &xTimer0Instance, XPAR_AXI_TIMER_0_DEVICE_ID );
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if( xStatus == XST_SUCCESS )
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{
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/* Install the tick interrupt handler as the timer ISR. */
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xStatus = xPortInstallInterruptHandler( XPAR_MICROBLAZE_0_INTC_AXI_TIMER_0_INTERRUPT_INTR, vTickISR, NULL );
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}
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if( xStatus == pdPASS )
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{
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vPortEnableInterrupt( XPAR_MICROBLAZE_0_INTC_AXI_TIMER_0_INTERRUPT_INTR );
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/* Configure the timer interrupt handler. */
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XTmrCtr_SetHandler( &xTimer0Instance, ( void * ) vTickISR, NULL );
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/* Set the correct period for the timer. */
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XTmrCtr_SetResetValue( &xTimer0Instance, ucTimerCounterNumber, ulCounterValue );
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/* Enable the interrupts. Auto-reload mode is used to generate a
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periodic tick. Note that interrupts are disabled when this function is
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called, so interrupts will not start to be processed until the first
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task has started to run. */
|
||||
XTmrCtr_SetOptions( &xTimer0Instance, ucTimerCounterNumber, ( XTC_INT_MODE_OPTION | XTC_AUTO_RELOAD_OPTION | XTC_DOWN_COUNT_OPTION ) );
|
||||
|
||||
/* Start the timer. */
|
||||
XTmrCtr_Start( &xTimer0Instance, ucTimerCounterNumber );
|
||||
}
|
||||
|
||||
configASSERT( ( xStatus == pdPASS ) );
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
void vApplicationClearTimerInterrupt( void )
|
||||
{
|
||||
unsigned long ulCSR;
|
||||
|
||||
/* Increment the RTOS tick - this might cause a task to unblock. */
|
||||
vTaskIncrementTick();
|
||||
|
||||
/* Clear the timer interrupt */
|
||||
ulCSR = XTmrCtr_GetControlStatusReg( XPAR_AXI_TIMER_0_BASEADDR, 0 );
|
||||
XTmrCtr_SetControlStatusReg( XPAR_AXI_TIMER_0_BASEADDR, 0, ulCSR );
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/* This function is explained by the comments above its prototype at the top
|
||||
of this file. */
|
||||
void vApplicationMallocFailedHook( void )
|
||||
{
|
||||
for( ;; );
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/* This function is explained by the comments above its prototype at the top
|
||||
of this file. */
|
||||
void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed char *pcTaskName )
|
||||
{
|
||||
for( ;; );
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/* This function is explained by the comments above its prototype at the top
|
||||
of this file. */
|
||||
void vApplicationIdleHook( void )
|
||||
{
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/* This function is explained in the comments at the top of this file. */
|
||||
static void prvRegTest1Task( void *pvParameters )
|
||||
{
|
||||
configASSERT( pvParameters == ( void * ) mainREG_TEST_1_PARAMETER );
|
||||
|
||||
for( ;; )
|
||||
{
|
||||
vTaskDelay( 10000 );
|
||||
}
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/* This function is explained in the comments at the top of this file. */
|
||||
static void prvRegTest2Task( void *pvParameters )
|
||||
{
|
||||
configASSERT( pvParameters == ( void * ) mainREG_TEST_2_PARAMETER );
|
||||
|
||||
for( ;; )
|
||||
{
|
||||
vTaskDelay( 10000 );
|
||||
}
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
char *pcGetTaskStatusMessage( void )
|
||||
{
|
||||
/* Not bothered about a critical section here although technically because of
|
||||
the task priorities the pointer could change it will be atomic if not near
|
||||
atomic and its not critical. */
|
||||
if( pcStatusMessage == NULL )
|
||||
{
|
||||
return "All tasks running without error";
|
||||
}
|
||||
else
|
||||
{
|
||||
return ( char * ) pcStatusMessage;
|
||||
}
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
static void prvSetupHardware( void )
|
||||
{
|
||||
#if 0
|
||||
portBASE_TYPE xStatus;
|
||||
const unsigned char ucSetToOutput = 0U;
|
||||
|
||||
/* Set up the GPIO port for the LED outputs. */
|
||||
vParTestInitialise();
|
||||
|
||||
/* Initialise the GPIO for the button inputs. */
|
||||
if( xStatus == XST_SUCCESS )
|
||||
{
|
||||
xStatus = XGpio_Initialize( &xInputGPIOInstance, XPAR_PUSH_BUTTONS_4BITS_DEVICE_ID );
|
||||
}
|
||||
|
||||
if( xStatus == XST_SUCCESS )
|
||||
{
|
||||
/* Install the handler defined in this task for the button input. */
|
||||
xStatus = xPortInstallInterruptHandler( XPAR_MICROBLAZE_0_INTC_PUSH_BUTTONS_4BITS_IP2INTC_IRPT_INTR, prvButtonInputInterruptHandler, NULL );
|
||||
|
||||
if( xStatus == pdPASS )
|
||||
{
|
||||
/* Set buttons to input. */
|
||||
XGpio_SetDataDirection( &xInputGPIOInstance, uxGPIOInputChannel, ~( ucSetToOutput ) );
|
||||
|
||||
|
||||
vPortEnableInterrupt( XPAR_MICROBLAZE_0_INTC_PUSH_BUTTONS_4BITS_IP2INTC_IRPT_INTR );
|
||||
|
||||
/* Enable GPIO channel interrupts. */
|
||||
XGpio_InterruptEnable( &xInputGPIOInstance, uxGPIOInputChannel ); //_RB_
|
||||
XGpio_InterruptGlobalEnable( &xInputGPIOInstance );
|
||||
}
|
||||
}
|
||||
|
||||
configASSERT( ( xStatus == pdPASS ) );
|
||||
#else
|
||||
vParTestInitialise();
|
||||
#endif //_RB_
|
||||
|
||||
#ifdef MICROBLAZE_EXCEPTIONS_ENABLED
|
||||
microblaze_enable_exceptions();
|
||||
#endif
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
Loading…
Reference in New Issue