Update comments in STM32F0 demo.
Update the Keil XMC4500 demo so there are simple blinky and comprehensive demo options.pull/1/head
Richard Barry
13 years ago
parent
c77dab2c35
commit
2e07d3d665
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/*
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FreeRTOS V7.1.0 - 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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|
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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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|
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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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* 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 simply blinky style version.
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*
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* NOTE 2: This file only contains the source code that is specific to the
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* basic demo. Generic functions, such FreeRTOS hook functions, and functions
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* required to configure the hardware, are defined in main.c.
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******************************************************************************
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*
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* main_blinky() creates one queue, and two tasks. It then starts the
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* scheduler.
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*
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* The Queue Send Task:
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* The queue send task is implemented by the prvQueueSendTask() function in
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* this file. prvQueueSendTask() sits in a loop that causes it to repeatedly
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* block for 200 milliseconds, before sending the value 100 to the queue that
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* was created within main_blinky(). Once the value is sent, the task loops
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* back around to block for another 200 milliseconds.
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*
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* The Queue Receive Task:
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* The queue receive task is implemented by the prvQueueReceiveTask() function
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* in this file. prvQueueReceiveTask() sits in a loop where it repeatedly
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* blocks on attempts to read data from the queue that was created within
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* main_blinky(). When data is received, the task checks the value of the
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* data, and if the value equals the expected 100, toggles the LED. The 'block
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* time' parameter passed to the queue receive function specifies that the
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* task should be held in the Blocked state indefinitely to wait for data to
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* be available on the queue. The queue receive task will only leave the
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* Blocked state when the queue send task writes to the queue. As the queue
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* send task writes to the queue every 200 milliseconds, the queue receive
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* task leaves the Blocked state every 200 milliseconds, and therefore toggles
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* the LED every 200 milliseconds.
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*/
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/* Standard includes. */
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#include <stdio.h>
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/* Kernel includes. */
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#include "FreeRTOS.h"
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#include "task.h"
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#include "semphr.h"
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/* Hardware includes. */
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#include "XMC4500.h"
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#include "System_XMC4500.h"
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/* Priorities at which the tasks are created. */
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#define mainQUEUE_RECEIVE_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
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#define mainQUEUE_SEND_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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/* The rate at which data is sent to the queue. The 200ms value is converted
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to ticks using the portTICK_RATE_MS constant. */
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#define mainQUEUE_SEND_FREQUENCY_MS ( 200 / 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, meaning the send task should always find
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the queue empty. */
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#define mainQUEUE_LENGTH ( 1 )
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/* Values passed to the two tasks just to check the task parameter
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functionality. */
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#define mainQUEUE_SEND_PARAMETER ( 0x1111UL )
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#define mainQUEUE_RECEIVE_PARAMETER ( 0x22UL )
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/* To toggle the single LED */
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#define mainTOGGLE_LED() ( PORT3->OMR = 0x02000200 )
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/*-----------------------------------------------------------*/
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/*
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* The tasks as described in the comments at the top of this file.
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*/
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static void prvQueueReceiveTask( void *pvParameters );
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static void prvQueueSendTask( void *pvParameters );
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/*
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* Called by main() to create the simply blinky style application if
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* mainCREATE_SIMPLE_BLINKY_DEMO_ONLY is set to 1.
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*/
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void main_blinky( void );
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/*
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* The hardware only has a single LED. Simply toggle it.
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*/
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extern void vMainToggleLED( void );
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/*-----------------------------------------------------------*/
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/* The queue used by both tasks. */
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static xQueueHandle xQueue = NULL;
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/*-----------------------------------------------------------*/
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void main_blinky( void )
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{
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/* Create the queue. */
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xQueue = xQueueCreate( mainQUEUE_LENGTH, sizeof( unsigned long ) );
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if( xQueue != NULL )
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{
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/* Start the two tasks as described in the comments at the top of this
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file. */
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xTaskCreate( prvQueueReceiveTask, /* The function that implements the task. */
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( signed char * ) "Rx", /* The text name assigned to the task - for debug only as it is not used by the kernel. */
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configMINIMAL_STACK_SIZE, /* The size of the stack to allocate to the task. */
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( void * ) mainQUEUE_RECEIVE_PARAMETER, /* The parameter passed to the task - just to check the functionality. */
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mainQUEUE_RECEIVE_TASK_PRIORITY, /* The priority assigned to the task. */
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NULL ); /* The task handle is not required, so NULL is passed. */
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xTaskCreate( prvQueueSendTask, ( signed char * ) "TX", configMINIMAL_STACK_SIZE, ( void * ) mainQUEUE_SEND_PARAMETER, mainQUEUE_SEND_TASK_PRIORITY, NULL );
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/* Start the tasks and timer running. */
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vTaskStartScheduler();
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}
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/* If all is well, the scheduler will now be running, and the following
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line will never be reached. If the following line does execute, then
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there was insufficient FreeRTOS heap memory available for the idle and/or
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timer tasks to be created. See the memory management section on the
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FreeRTOS web site for more details. */
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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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/* Check the task parameter is as expected. */
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configASSERT( ( ( unsigned long ) pvParameters ) == mainQUEUE_SEND_PARAMETER );
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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 time is specified in ticks, the constant used converts ticks
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to ms. While in the Blocked state this task will not consume any CPU
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time. */
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vTaskDelayUntil( &xNextWakeTime, mainQUEUE_SEND_FREQUENCY_MS );
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/* Send to the queue - causing the queue receive task to unblock and
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toggle the LED. 0 is used as the block time so the sending operation
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will not block - it shouldn't need to block as the queue should always
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be empty at this point in the code. */
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xQueueSend( xQueue, &ulValueToSend, 0U );
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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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/* Check the task parameter is as expected. */
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configASSERT( ( ( unsigned long ) pvParameters ) == mainQUEUE_RECEIVE_PARAMETER );
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for( ;; )
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{
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/* Wait until something arrives in the queue - this task will block
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indefinitely provided INCLUDE_vTaskSuspend is set to 1 in
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FreeRTOSConfig.h. */
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xQueueReceive( xQueue, &ulReceivedValue, portMAX_DELAY );
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/* To get here something must have been received from the queue, but
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is it the expected value? If it is, toggle the LED. */
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if( ulReceivedValue == 100UL )
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{
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mainTOGGLE_LED();
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ulReceivedValue = 0U;
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}
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}
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}
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/*-----------------------------------------------------------*/
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@ -0,0 +1,318 @@
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/*
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FreeRTOS V7.1.0 - 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
|
||||||
|
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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|
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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.
|
||||||
|
|
||||||
|
http://www.SafeRTOS.com - A version that is certified for use in safety
|
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|
critical systems.
|
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|
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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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* 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 a software timer, then
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* starts the scheduler. The web documentation provides more details of the
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* standard demo application tasks, which provide no particular functionality,
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* but do provide a good example of how to use the FreeRTOS API.
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*
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* In addition to the standard demo tasks, the following tasks and tests are
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* defined and/or created within this file:
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*
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* "Reg test" tasks - These fill both the core and floating point registers with
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* known values, then check that each register maintains its expected value for
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* the lifetime of the task. Each task uses a different set of values. The reg
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* test tasks execute with a very low priority, so get preempted very
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* frequently. A register containing an unexpected value is indicative of an
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* error in the context switching mechanism.
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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 callback function
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* also toggles the single LED each time it is called. This provides a visual
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* indication of the system status: If the LED toggles every three seconds,
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* then no issues have been discovered. If the LED toggles every 200ms, then
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* an issue has been discovered with at least one task.
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*/
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/* Standard includes. */
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#include <stdio.h>
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/* Kernel includes. */
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#include "FreeRTOS.h"
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#include "task.h"
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#include "timers.h"
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#include "semphr.h"
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/* Standard demo application includes. */
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#include "flop.h"
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#include "integer.h"
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#include "PollQ.h"
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#include "semtest.h"
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#include "dynamic.h"
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#include "BlockQ.h"
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#include "blocktim.h"
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#include "countsem.h"
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#include "GenQTest.h"
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#include "recmutex.h"
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#include "death.h"
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/* Hardware includes. */
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#include "XMC4500.h"
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#include "System_XMC4500.h"
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/* Priorities for the demo application tasks. */
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#define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2UL )
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#define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1UL )
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#define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2UL )
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#define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3UL )
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#define mainFLOP_TASK_PRIORITY ( tskIDLE_PRIORITY )
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/* To toggle the single LED */
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#define mainTOGGLE_LED() ( PORT3->OMR = 0x02000200 )
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|
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||||||
|
/* A block time of zero simply means "don't block". */
|
||||||
|
#define mainDONT_BLOCK ( 0UL )
|
||||||
|
|
||||||
|
/* The period after which the check timer will expire, in ms, provided no errors
|
||||||
|
have been reported by any of the standard demo tasks. ms are converted to the
|
||||||
|
equivalent in ticks using the portTICK_RATE_MS constant. */
|
||||||
|
#define mainCHECK_TIMER_PERIOD_MS ( 3000UL / portTICK_RATE_MS )
|
||||||
|
|
||||||
|
/* The period at which the check timer will expire, in ms, if an error has been
|
||||||
|
reported in one of the standard demo tasks. ms are converted to the equivalent
|
||||||
|
in ticks using the portTICK_RATE_MS constant. */
|
||||||
|
#define mainERROR_CHECK_TIMER_PERIOD_MS ( 200UL / portTICK_RATE_MS )
|
||||||
|
|
||||||
|
/*-----------------------------------------------------------*/
|
||||||
|
|
||||||
|
/*
|
||||||
|
* The check timer callback function, as described at the top of this file.
|
||||||
|
*/
|
||||||
|
static void prvCheckTimerCallback( xTimerHandle xTimer );
|
||||||
|
|
||||||
|
/*
|
||||||
|
* Register check tasks, and the tasks used to write over and check the contents
|
||||||
|
* of the FPU registers, as described at the top of this file. The nature of
|
||||||
|
* these files necessitates that they are written in an assembly file.
|
||||||
|
*/
|
||||||
|
extern void vRegTest1Task( void *pvParameters );
|
||||||
|
extern void vRegTest2Task( void *pvParameters );
|
||||||
|
|
||||||
|
/*-----------------------------------------------------------*/
|
||||||
|
|
||||||
|
/* The following two variables are used to communicate the status of the
|
||||||
|
register check tasks to the check software timer. If the variables keep
|
||||||
|
incrementing, then the register check tasks has not discovered any errors. If
|
||||||
|
a variable stops incrementing, then an error has been found. */
|
||||||
|
volatile unsigned long ulRegTest1LoopCounter = 0UL, ulRegTest2LoopCounter = 0UL;
|
||||||
|
|
||||||
|
/*-----------------------------------------------------------*/
|
||||||
|
|
||||||
|
void main_full( void )
|
||||||
|
{
|
||||||
|
xTimerHandle xCheckTimer = NULL;
|
||||||
|
|
||||||
|
/* Start all the other standard demo/test tasks. The have not particular
|
||||||
|
functionality, but do demonstrate how to use the FreeRTOS API and test the
|
||||||
|
kernel port. */
|
||||||
|
vStartIntegerMathTasks( tskIDLE_PRIORITY );
|
||||||
|
vStartDynamicPriorityTasks();
|
||||||
|
vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
|
||||||
|
vCreateBlockTimeTasks();
|
||||||
|
vStartCountingSemaphoreTasks();
|
||||||
|
vStartGenericQueueTasks( tskIDLE_PRIORITY );
|
||||||
|
vStartRecursiveMutexTasks();
|
||||||
|
vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
|
||||||
|
vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
|
||||||
|
vStartMathTasks( mainFLOP_TASK_PRIORITY );
|
||||||
|
|
||||||
|
/* Create the register check tasks, as described at the top of this
|
||||||
|
file */
|
||||||
|
xTaskCreate( vRegTest1Task, ( signed char * ) "Reg1", configMINIMAL_STACK_SIZE, ( void * ) NULL, tskIDLE_PRIORITY, NULL );
|
||||||
|
xTaskCreate( vRegTest2Task, ( signed char * ) "Reg2", configMINIMAL_STACK_SIZE, ( void * ) NULL, tskIDLE_PRIORITY, NULL );
|
||||||
|
|
||||||
|
/* Create the software timer that performs the 'check' functionality,
|
||||||
|
as described at the top of this file. */
|
||||||
|
xCheckTimer = xTimerCreate( ( const signed char * ) "CheckTimer",/* A text name, purely to help debugging. */
|
||||||
|
( mainCHECK_TIMER_PERIOD_MS ), /* The timer period, in this case 3000ms (3s). */
|
||||||
|
pdTRUE, /* This is an auto-reload timer, so xAutoReload is set to pdTRUE. */
|
||||||
|
( void * ) 0, /* The ID is not used, so can be set to anything. */
|
||||||
|
prvCheckTimerCallback /* The callback function that inspects the status of all the other tasks. */
|
||||||
|
);
|
||||||
|
|
||||||
|
if( xCheckTimer != NULL )
|
||||||
|
{
|
||||||
|
xTimerStart( xCheckTimer, mainDONT_BLOCK );
|
||||||
|
}
|
||||||
|
|
||||||
|
/* The set of tasks created by the following function call have to be
|
||||||
|
created last as they keep account of the number of tasks they expect to see
|
||||||
|
running. */
|
||||||
|
vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
|
||||||
|
|
||||||
|
/* Start the scheduler. */
|
||||||
|
vTaskStartScheduler();
|
||||||
|
|
||||||
|
/* If all is well, the scheduler will now be running, and the following line
|
||||||
|
will never be reached. If the following line does execute, then there was
|
||||||
|
insufficient FreeRTOS heap memory available for the idle and/or timer tasks
|
||||||
|
to be created. See the memory management section on the FreeRTOS web site
|
||||||
|
for more details. */
|
||||||
|
for( ;; );
|
||||||
|
}
|
||||||
|
/*-----------------------------------------------------------*/
|
||||||
|
|
||||||
|
static void prvCheckTimerCallback( xTimerHandle xTimer )
|
||||||
|
{
|
||||||
|
static long lChangedTimerPeriodAlready = pdFALSE;
|
||||||
|
static unsigned long ulLastRegTest1Value = 0, ulLastRegTest2Value = 0;
|
||||||
|
unsigned long ulErrorFound = pdFALSE;
|
||||||
|
|
||||||
|
/* Check all the demo tasks (other than the flash tasks) to ensure
|
||||||
|
that they are all still running, and that none have detected an error. */
|
||||||
|
|
||||||
|
if( xAreMathsTaskStillRunning() != pdTRUE )
|
||||||
|
{
|
||||||
|
ulErrorFound = pdTRUE;
|
||||||
|
}
|
||||||
|
|
||||||
|
if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
|
||||||
|
{
|
||||||
|
ulErrorFound = pdTRUE;
|
||||||
|
}
|
||||||
|
|
||||||
|
if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
|
||||||
|
{
|
||||||
|
ulErrorFound = pdTRUE;
|
||||||
|
}
|
||||||
|
|
||||||
|
if( xAreBlockingQueuesStillRunning() != pdTRUE )
|
||||||
|
{
|
||||||
|
ulErrorFound = pdTRUE;
|
||||||
|
}
|
||||||
|
|
||||||
|
if ( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
|
||||||
|
{
|
||||||
|
ulErrorFound = pdTRUE;
|
||||||
|
}
|
||||||
|
|
||||||
|
if ( xAreGenericQueueTasksStillRunning() != pdTRUE )
|
||||||
|
{
|
||||||
|
ulErrorFound = pdTRUE;
|
||||||
|
}
|
||||||
|
|
||||||
|
if ( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
|
||||||
|
{
|
||||||
|
ulErrorFound = pdTRUE;
|
||||||
|
}
|
||||||
|
|
||||||
|
if( xIsCreateTaskStillRunning() != pdTRUE )
|
||||||
|
{
|
||||||
|
ulErrorFound = pdTRUE;
|
||||||
|
}
|
||||||
|
|
||||||
|
if( xArePollingQueuesStillRunning() != pdTRUE )
|
||||||
|
{
|
||||||
|
ulErrorFound = pdTRUE;
|
||||||
|
}
|
||||||
|
|
||||||
|
if( xAreSemaphoreTasksStillRunning() != pdTRUE )
|
||||||
|
{
|
||||||
|
ulErrorFound = pdTRUE;
|
||||||
|
}
|
||||||
|
|
||||||
|
/* Check that the register test 1 task is still running. */
|
||||||
|
if( ulLastRegTest1Value == ulRegTest1LoopCounter )
|
||||||
|
{
|
||||||
|
ulErrorFound = pdTRUE;
|
||||||
|
}
|
||||||
|
ulLastRegTest1Value = ulRegTest1LoopCounter;
|
||||||
|
|
||||||
|
/* Check that the register test 2 task is still running. */
|
||||||
|
if( ulLastRegTest2Value == ulRegTest2LoopCounter )
|
||||||
|
{
|
||||||
|
ulErrorFound = pdTRUE;
|
||||||
|
}
|
||||||
|
ulLastRegTest2Value = ulRegTest2LoopCounter;
|
||||||
|
|
||||||
|
/* Toggle the check LED to give an indication of the system status. If
|
||||||
|
the LED toggles every mainCHECK_TIMER_PERIOD_MS milliseconds then
|
||||||
|
everything is ok. A faster toggle indicates an error. */
|
||||||
|
mainTOGGLE_LED();
|
||||||
|
|
||||||
|
/* Have any errors been latch in ulErrorFound? If so, shorten the
|
||||||
|
period of the check timer to mainERROR_CHECK_TIMER_PERIOD_MS milliseconds.
|
||||||
|
This will result in an increase in the rate at which mainCHECK_LED
|
||||||
|
toggles. */
|
||||||
|
if( ulErrorFound != pdFALSE )
|
||||||
|
{
|
||||||
|
if( lChangedTimerPeriodAlready == pdFALSE )
|
||||||
|
{
|
||||||
|
lChangedTimerPeriodAlready = pdTRUE;
|
||||||
|
|
||||||
|
/* This call to xTimerChangePeriod() uses a zero block time.
|
||||||
|
Functions called from inside of a timer callback function must
|
||||||
|
*never* attempt to block. */
|
||||||
|
xTimerChangePeriod( xTimer, ( mainERROR_CHECK_TIMER_PERIOD_MS ), mainDONT_BLOCK );
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
/*-----------------------------------------------------------*/
|
||||||
|
|
||||||
Loading…
Reference in New Issue