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286 lines
12 KiB
C
286 lines
12 KiB
C
/*
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FreeRTOS V7.4.0 - Copyright (C) 2013 Real Time Engineers Ltd.
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FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME. PLEASE VISIT
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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 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.
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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. See the GNU General Public License for more
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details. You should have received a copy of the GNU General Public License
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and the FreeRTOS license exception along with FreeRTOS; if not itcan be
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viewed here: http://www.freertos.org/a00114.html and also obtained by
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writing to Real Time Engineers Ltd., contact details for whom are available
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on the FreeRTOS WEB site.
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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, and our new
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fully thread aware and reentrant 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, who sell the code with commercial support,
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indemnification and middleware, under the OpenRTOS brand.
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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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*/
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/*
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* This is a very simple demo that creates two tasks, one queue, and one
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* software timer. For a much more complete and complex example select either
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* the Debug or Debug_with_optimisation build configurations within the HEW,
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* which build main_full.c in place of this file.
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*
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* One task (the queue receive task) blocks on the queue to wait for data to
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* arrive, toggling LED0 each time '100' is received. The other task (the
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* queue send task) repeatedly blocks for a fixed period before sending '100'
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* to the queue (causing the first task to toggle the LED).
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*
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* The software timer is configured to auto-reload. The timer callback
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* function periodically toggles LED1.
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*/
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/* Hardware specific includes. */
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#include "iodefine.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 "queue.h"
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/* Priorities at which the tasks are created. */
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#define configQUEUE_RECEIVE_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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#define configQUEUE_SEND_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
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/* The rate at which data is sent to the queue, specified in milliseconds. */
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#define mainQUEUE_SEND_PERIOD_MS ( 500 / portTICK_RATE_MS )
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/* The period of the software timer, specified in milliseconds. */
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#define mainSOFTWARE_TIMER_PERIOD_MS ( 150 / portTICK_RATE_MS )
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/* The number of items the queue can hold. This is 1 as the receive task
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will remove items as they are added so the send task should always find the
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queue empty. */
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#define mainQUEUE_LENGTH ( 1 )
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/* The LEDs toggle by the task and timer respectively. */
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#define mainTASK_LED ( 0 )
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#define mainTIMER_LED ( 1 )
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/*
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* The tasks as defined 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 callback function used by the software timer.
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*/
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static void prvBlinkyTimerCallback( xTimerHandle xTimer );
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/* The queue used by both tasks. */
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static xQueueHandle xQueue = NULL;
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/* This variable is not used by this simple Blinky example. It is defined
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purely to allow the project to link as it is used by the full project. */
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volatile unsigned long ulHighFrequencyTickCount = 0UL;
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/*-----------------------------------------------------------*/
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void main(void)
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{
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xTimerHandle xTimer;
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/* Turn all LEDs off. */
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vParTestInitialise();
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/* Create the queue. */
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xQueue = xQueueCreate( mainQUEUE_LENGTH, sizeof( unsigned long ) );
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/* Create the software timer, as described at the top of this file. */
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xTimer = xTimerCreate( "BlinkyTimer", /* Just a text name to make debugging easier - not used by the scheduler. */
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mainSOFTWARE_TIMER_PERIOD_MS, /* The timer period. */
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pdTRUE, /* Set to pdTRUE for periodic timer, or pdFALSE for one-shot timer. */
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NULL, /* The timer ID is not required. */
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prvBlinkyTimerCallback ); /* The function executed when the timer expires. */
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if( xTimer != NULL )
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{
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/* Start the timer - it will not actually start running until the
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scheduler has started. The block time is set to 0, although, because
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xTimerStart() is being called before the scheduler has been started,
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the any block time specified would be ignored anyway. */
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xTimerStart( xTimer, 0UL );
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}
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if( xQueue != NULL )
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{
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/* Start the two tasks as described at the top of this file. */
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xTaskCreate( prvQueueReceiveTask, /* The function that implements the task. */
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"Rx", /* Just a text name to make debugging easier - not used by the scheduler. */
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configMINIMAL_STACK_SIZE, /* The size of the task stack, in words. */
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NULL, /* The task parameter is not used. */
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configQUEUE_RECEIVE_TASK_PRIORITY, /* The priority assigned to the task when it is created. */
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NULL ); /* The task handle is not used. */
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xTaskCreate( prvQueueSendTask, "TX", configMINIMAL_STACK_SIZE, NULL, configQUEUE_SEND_TASK_PRIORITY, NULL );
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/* Start the tasks running. */
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vTaskStartScheduler();
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}
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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 prvQueueSendTask( void *pvParameters )
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{
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portTickType xNextWakeTime;
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const unsigned long ulValueToSend = 100UL;
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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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The block state is specified in ticks, the constant used converts ticks
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to ms. */
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vTaskDelayUntil( &xNextWakeTime, mainQUEUE_SEND_PERIOD_MS );
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/* Send to the queue - causing the queue receive task to flash its LED. 0
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is used so the send does not block - it shouldn't need to as the queue
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should always be empty here. */
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xQueueSend( xQueue, &ulValueToSend, 0 );
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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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for( ;; )
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{
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/* Wait until something arives in the queue - this 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 arrived, but is it the expected
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value? If it is, toggle the LED. */
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if( ulReceivedValue == 100UL )
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{
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vParTestToggleLED( mainTASK_LED );
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}
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}
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}
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/*-----------------------------------------------------------*/
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static void prvBlinkyTimerCallback( xTimerHandle xTimer )
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{
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/* The software timer does nothing but toggle an LED. */
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vParTestToggleLED( mainTIMER_LED );
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}
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/*-----------------------------------------------------------*/
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void vApplicationSetupTimerInterrupt( void )
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{
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/* Enable compare match timer 0. */
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MSTP( CMT0 ) = 0;
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/* Interrupt on compare match. */
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CMT0.CMCR.BIT.CMIE = 1;
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/* Set the compare match value. */
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CMT0.CMCOR = ( unsigned short ) ( ( ( configPERIPHERAL_CLOCK_HZ / configTICK_RATE_HZ ) -1 ) / 8 );
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/* Divide the PCLK by 8. */
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CMT0.CMCR.BIT.CKS = 0;
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/* Enable the interrupt... */
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_IEN( _CMT0_CMI0 ) = 1;
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/* ...and set its priority to the application defined kernel priority. */
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_IPR( _CMT0_CMI0 ) = configKERNEL_INTERRUPT_PRIORITY;
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/* Start the timer. */
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CMT.CMSTR0.BIT.STR0 = 1;
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}
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/*-----------------------------------------------------------*/
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/* This function is explained by the comments above its prototype at the top
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of this file. */
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void vApplicationMallocFailedHook( void )
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{
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for( ;; );
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}
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/*-----------------------------------------------------------*/
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/* This function is explained by the comments above its prototype at the top
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of this file. */
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void vApplicationStackOverflowHook( xTaskHandle pxTask, signed char *pcTaskName )
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{
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for( ;; );
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}
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/*-----------------------------------------------------------*/
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/* This function is explained by the comments above its prototype at the top
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of this file. */
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void vApplicationIdleHook( void )
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{
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/* Just to prevent the variable getting optimised away. */
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( void ) ulHighFrequencyTickCount;
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}
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/*-----------------------------------------------------------*/
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