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432 lines
18 KiB
C
432 lines
18 KiB
C
/*
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FreeRTOS V7.6.0 - Copyright (C) 2013 Real Time Engineers Ltd.
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All rights reserved
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VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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***************************************************************************
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* *
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* FreeRTOS provides completely free yet professionally developed, *
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* robust, strictly quality controlled, supported, and cross *
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* platform software that has become a de facto standard. *
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* *
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* Help yourself get started quickly and support the FreeRTOS *
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* project by purchasing a FreeRTOS tutorial book, reference *
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* manual, or both from: http://www.FreeRTOS.org/Documentation *
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* *
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* Thank you! *
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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 distribute
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>>! a combined work that includes FreeRTOS without being obliged to provide
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>>! the source code for proprietary components outside of the FreeRTOS
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>>! kernel.
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FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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FOR A PARTICULAR PURPOSE. Full license text is available from the following
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link: http://www.freertos.org/a00114.html
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1 tab == 4 spaces!
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***************************************************************************
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* *
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* Having a problem? Start by reading the FAQ "My application does *
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* not run, what could be wrong?" *
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* *
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* http://www.FreeRTOS.org/FAQHelp.html *
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* *
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***************************************************************************
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http://www.FreeRTOS.org - Documentation, books, training, latest versions,
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license and Real Time Engineers Ltd. contact details.
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http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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compatible FAT file system, and our tiny thread aware UDP/IP stack.
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http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS
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licenses offer ticketed support, indemnification and middleware.
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http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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engineered and independently SIL3 certified version for use in safety and
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mission critical applications that require provable dependability.
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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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* 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. In addition to the standard demo tasks, the
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* following tasks and tests are also defined:
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*
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* "Register test" tasks - These tasks are used in part to test the kernel port.
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* They set each processor register to a known value, then check that the
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* register still contains that value. Each of the tasks sets the registers
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* to different values, and will get swapping in and out between setting and
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* then subsequently checking the register values. Discovery of an incorrect
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* value would be indicative of an error in the task switching mechanism.
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*
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* "ISR triggered task" - This is provided as an example of how to write a
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* FreeRTOS compatible interrupt service routine. See the comments in
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* ISRTriggeredTask.c.
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*
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* "High Frequency Timer Test" - The high frequency timer is created to test
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* the interrupt nesting method. The standard demo interrupt nesting test tasks
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* are created with priorities at or below configMAX_SYSCALL_INTERRUPT_PRIORITY
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* because they use interrupt safe FreeRTOS API functions. The high frequency
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* time is created with a priority above configMAX_SYSCALL_INTERRUPT_PRIORITY,
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* so cannot us the same API functions.
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* By way of demonstration, the demo application defines
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* configMAX_SYSCALL_INTERRUPT_PRIORITY to be 3, configKERNEL_INTERRUPT_PRIORITY
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* to be 1, and all other interrupts as follows:
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*
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* See the online documentation for this demo for more information on interrupt
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* usage.
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*
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* "Check" timer - The check software timer period is initially set to three
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* seconds. The callback function associated with the check software timer
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* checks that all the standard demo tasks, and the register check tasks, are
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* not only still executing, but are executing without reporting any errors. If
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* the check software timer discovers that a task has either stalled, or
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* reported an error, then it changes its own execution period from the initial
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* three seconds, to just 200ms. The check software timer also toggle LED
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* mainCHECK_LED; If mainCHECK_LED toggles every 3 seconds, no errors have
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* been detected. If mainCHECK_LED toggles every 200ms then an error has been
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* detected in at least one task.
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*
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*/
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/* Scheduler 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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#include "semphr.h"
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#include "timers.h"
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/* Demo application includes. */
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#include "partest.h"
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#include "blocktim.h"
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#include "flash_timer.h"
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#include "semtest.h"
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#include "GenQTest.h"
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#include "QPeek.h"
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#include "IntQueue.h"
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#include "countsem.h"
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#include "dynamic.h"
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#include "QueueOverwrite.h"
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#include "QueueSet.h"
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#include "recmutex.h"
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/*-----------------------------------------------------------*/
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/* The period after which the check timer will expire, in ms, provided no errors
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have been reported by any of the standard demo tasks. ms are converted to the
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equivalent in ticks using the portTICK_RATE_MS constant. */
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#define mainCHECK_TIMER_PERIOD_MS ( 3000UL / portTICK_RATE_MS )
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/* The period at which the check timer will expire, in ms, if an error has been
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reported in one of the standard demo tasks. ms are converted to the equivalent
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in ticks using the portTICK_RATE_MS constant. */
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#define mainERROR_CHECK_TIMER_PERIOD_MS ( 200UL / portTICK_RATE_MS )
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/* The priorities of the various demo application tasks. */
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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 mainCOM_TEST_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 mainQUEUE_OVERWRITE_TASK_PRIORITY ( tskIDLE_PRIORITY )
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/* The LED controlled by the 'check' software timer. */
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#define mainCHECK_LED ( 2 )
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/* The number of LEDs that should be controlled by the flash software timer
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standard demo. In this case it is only 1 as the starter kit has three LEDs, one
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of which is controlled by the check timer and one of which is controlled by the
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ISR triggered task. */
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#define mainNUM_FLASH_TIMER_LEDS ( 1 )
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/* Misc. */
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#define mainDONT_BLOCK ( 0 )
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/* The frequency at which the "high frequency interrupt" interrupt will
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occur. */
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#define mainTEST_INTERRUPT_FREQUENCY ( 20000 )
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/*-----------------------------------------------------------*/
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/*
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* The check timer callback function, as described at the top of this file.
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*/
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static void prvCheckTimerCallback( xTimerHandle xTimer );
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/*
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* It is important to ensure the high frequency timer test does not start before
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* the kernel. It is therefore started from inside a software timer callback
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* function, which will not execute until the timer service/daemon task is
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* executing. A one-shot timer is used, so the callback function will only
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* execute once (unless it is manually reset/restarted).
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*/
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static void prvSetupHighFrequencyTimerTest( xTimerHandle xTimer );
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/*
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* Tasks that test the context switch mechanism by filling the processor
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* registers with known values, then checking that the values contained
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* within the registers is as expected. The tasks are likely to get swapped
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* in and out between setting the register values and checking the register
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* values.
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*/
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static void prvRegTestTask1( void *pvParameters );
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static void prvRegTestTask2( void *pvParameters );
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/*
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* The task that is periodically triggered by an interrupt, as described at the
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* top of this file.
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*/
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extern void vStartISRTriggeredTask( void );
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/*-----------------------------------------------------------*/
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/* Variables incremented by prvRegTestTask1() and prvRegTestTask2() respectively
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on each iteration of their function. These are used to detect errors in the
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reg test tasks. */
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volatile unsigned long ulRegTest1Cycles = 0, ulRegTest2Cycles = 0;
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/*-----------------------------------------------------------*/
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/*
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* Create the demo tasks then start the scheduler.
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*/
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int main_full( void )
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{
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xTimerHandle xTimer = NULL;
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/* Create all the other standard demo tasks. */
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vStartLEDFlashTimers( mainNUM_FLASH_TIMER_LEDS );
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vCreateBlockTimeTasks();
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vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
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vStartQueuePeekTasks();
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vStartInterruptQueueTasks();
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vStartISRTriggeredTask();
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vStartCountingSemaphoreTasks();
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vStartDynamicPriorityTasks();
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vStartQueueOverwriteTask( mainQUEUE_OVERWRITE_TASK_PRIORITY );
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vStartQueueSetTasks();
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vStartRecursiveMutexTasks();
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/* Create the tasks defined within this file. */
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xTaskCreate( prvRegTestTask1, /* The function that implements the task. */
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( const signed char * const ) "Reg1", /* Text name for the task to assist debugger - not used by FreeRTOS itself. */
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configMINIMAL_STACK_SIZE, /* The stack size to allocate for the task - specified in words not bytes. */
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NULL, /* The parameter to pass into the task - not used in this case so set to NULL. */
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tskIDLE_PRIORITY, /* The priority to assign to the task. */
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NULL ); /* Used to obtain a handle to the task being created - not used in this case so set to NULL. */
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xTaskCreate( prvRegTestTask2, ( const signed char * const ) "Reg2", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
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/* Create the software timer that performs the 'check' functionality, as
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described at the top of this file. */
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xTimer = xTimerCreate( ( const signed char * ) "CheckTimer",/* A text name, purely to help debugging. */
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( mainCHECK_TIMER_PERIOD_MS ), /* The timer period, in this case 3000ms (3s). */
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pdTRUE, /* This is an auto-reload timer, so xAutoReload is set to pdTRUE. */
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( void * ) 0, /* The ID is not used, so can be set to anything. */
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prvCheckTimerCallback ); /* The callback function that inspects the status of all the other tasks. */
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if( xTimer != NULL )
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{
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xTimerStart( xTimer, mainDONT_BLOCK );
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}
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/* A software timer is also used to start the high frequency timer test.
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This is to ensure the test does not start before the kernel. This time a
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one shot software timer is used. */
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xTimer = xTimerCreate( ( const signed char * ) "HighHzTimerSetup", 1, pdFALSE, ( void * ) 0, prvSetupHighFrequencyTimerTest );
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if( xTimer != NULL )
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{
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xTimerStart( xTimer, mainDONT_BLOCK );
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}
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/* Finally start the scheduler. */
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vTaskStartScheduler();
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/* If all is well, the scheduler will now be running, and the following line
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will never be reached. If the following line does execute, then there was
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insufficient FreeRTOS heap memory available for the idle and/or timer tasks
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to be created. See the memory management section on the FreeRTOS web site
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for more details. 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 prvRegTestTask1( void *pvParameters )
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{
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extern void vRegTest1( volatile unsigned long * );
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/* Avoid compiler warnings. */
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( void ) pvParameters;
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/* Pass the address of the RegTest1 loop counter into the test function,
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which is necessarily implemented in assembler. */
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vRegTest1( &ulRegTest1Cycles );
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/* vRegTest1 should never exit! */
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vTaskDelete( NULL );
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}
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/*-----------------------------------------------------------*/
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static void prvRegTestTask2( void *pvParameters )
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{
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extern void vRegTest2( volatile unsigned long * );
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/* Avoid compiler warnings. */
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( void ) pvParameters;
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/* Pass the address of the RegTest2 loop counter into the test function,
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which is necessarily implemented in assembler. */
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vRegTest2( &ulRegTest2Cycles );
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/* vRegTest1 should never exit! */
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vTaskDelete( NULL );
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}
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/*-----------------------------------------------------------*/
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static void prvCheckTimerCallback( xTimerHandle xTimer )
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{
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static long lChangedTimerPeriodAlready = pdFALSE;
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static unsigned long ulLastRegTest1Value = 0, ulLastRegTest2Value = 0, ulLastHighFrequencyTimerInterrupts = 0;
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static const unsigned long ulExpectedHighFrequencyInterrupts = ( ( mainTEST_INTERRUPT_FREQUENCY / 1000UL ) * mainCHECK_TIMER_PERIOD_MS ) - 10; /* 10 allows for a margin of error. */
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unsigned long ulErrorOccurred = pdFALSE;
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/* The count of the high frequency timer interrupts. */
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extern unsigned long ulHighFrequencyTimerInterrupts;
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/* Avoid compiler warnings. */
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( void ) xTimer;
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/* Check that the register test 1 task is still running. */
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if( ulLastRegTest1Value == ulRegTest1Cycles )
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{
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ulErrorOccurred |= ( 0x01UL << 1UL );
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}
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ulLastRegTest1Value = ulRegTest1Cycles;
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/* Check that the register test 2 task is still running. */
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if( ulLastRegTest2Value == ulRegTest2Cycles )
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{
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ulErrorOccurred |= ( 0x01UL << 2UL );
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}
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ulLastRegTest2Value = ulRegTest2Cycles;
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/* Have any of the standard demo tasks detected an error in their
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operation? */
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if( xAreGenericQueueTasksStillRunning() != pdTRUE )
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{
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ulErrorOccurred |= ( 0x01UL << 3UL );
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}
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else if( xAreQueuePeekTasksStillRunning() != pdTRUE )
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{
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ulErrorOccurred |= ( 0x01UL << 4UL );
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}
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else if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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{
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ulErrorOccurred |= ( 0x01UL << 5UL );
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}
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else if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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{
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ulErrorOccurred |= ( 0x01UL << 6UL );
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}
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else if( xAreIntQueueTasksStillRunning() != pdTRUE )
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{
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ulErrorOccurred |= ( 0x01UL << 7UL );
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}
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else if( xAreCountingSemaphoreTasksStillRunning() != pdTRUE )
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{
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ulErrorOccurred |= ( 0x01UL << 8UL );
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}
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else if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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{
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ulErrorOccurred |= ( 0x01UL << 9UL );
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}
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else if( xIsQueueOverwriteTaskStillRunning() != pdTRUE )
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{
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ulErrorOccurred |= ( 0x01UL << 10UL );
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}
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else if( xAreQueueSetTasksStillRunning() != pdTRUE )
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{
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ulErrorOccurred |= ( 0x01UL << 11UL );
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}
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else if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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{
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ulErrorOccurred |= ( 0x01UL << 12UL );
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}
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/* Ensure the expected number of high frequency interrupts have occurred. */
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if( ulLastHighFrequencyTimerInterrupts != 0 )
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{
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if( ( ulHighFrequencyTimerInterrupts - ulLastHighFrequencyTimerInterrupts ) < ulExpectedHighFrequencyInterrupts )
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{
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ulErrorOccurred |= ( 0x01UL << 13UL );
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}
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}
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ulLastHighFrequencyTimerInterrupts = ulHighFrequencyTimerInterrupts;
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if( ulErrorOccurred != pdFALSE )
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{
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/* An error occurred. Increase the frequency at which the check timer
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toggles its LED to give visual feedback of the potential error
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condition. */
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if( lChangedTimerPeriodAlready == pdFALSE )
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{
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lChangedTimerPeriodAlready = pdTRUE;
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/* This call to xTimerChangePeriod() uses a zero block time.
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Functions called from inside of a timer callback function must
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*never* attempt to block as to do so could impact other software
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timers. */
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xTimerChangePeriod( xTimer, ( mainERROR_CHECK_TIMER_PERIOD_MS ), mainDONT_BLOCK );
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}
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}
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vParTestToggleLED( mainCHECK_LED );
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}
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/*-----------------------------------------------------------*/
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static void prvSetupHighFrequencyTimerTest( xTimerHandle xTimer )
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{
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void vSetupTimerTest( unsigned short usFrequencyHz );
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/* Avoid compiler warnings. */
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( void ) xTimer;
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/* Setup the high frequency, high priority, timer test. It is setup in this
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software timer callback to ensure it does not start before the kernel does.
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This is a one shot timer - so the setup routine will only be executed once. */
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vSetupTimerTest( mainTEST_INTERRUPT_FREQUENCY );
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}
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/*-----------------------------------------------------------*/
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