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@ -52,28 +52,20 @@
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*/
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/* ****************************************************************************
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* This project includes a lot of tasks and tests and is therefore complex.
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* If you would prefer a much simpler project to get started with then select
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* the 'Blinky' build configuration within the Embedded Workbench IDE.
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* This project includes a lot of demo and test tasks, and is therefore complex.
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* If you would prefer a much simpler project to get started with, then select
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* the 'Blinky' build configuration within the SDK Eclipse IDE.
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* ****************************************************************************
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*
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* Creates all the demo application tasks, then starts the scheduler. The web
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* documentation provides more details of the standard demo application tasks,
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* which provide no particular functionality but do provide a good example of
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* how to use the FreeRTOS API. The tasks defined in flop.c are included in the
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* set of standard demo tasks to ensure the floating point unit gets some
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* exercise.
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* main() creates all the demo application tasks, then starts the scheduler.
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* The web documentation provides more details of the standard demo application
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* tasks, which provide no particular functionality, but do provide a good
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* 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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* Webserver ("uIP") task - This serves a number of dynamically generated WEB
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* pages to a standard WEB browser. The IP and MAC addresses are configured by
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* constants defined at the bottom of FreeRTOSConfig.h. Use either a standard
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* Ethernet cable to connect through a hug, or a cross over (point to point)
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* cable to connect directly. Ensure the IP address used is compatible with the
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* IP address of the machine running the browser - the easiest way to achieve
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* this is to ensure the first three octets of the IP addresses are the same.
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* Webserver ("lwIP") task - TBD _RB_
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*
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* "Reg test" tasks - These fill the registers with known values, then check
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* that each register still contains its expected value. Each task uses
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@ -82,54 +74,32 @@
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* test loop. A register containing an unexpected value is indicative of an
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* error in the context switching mechanism and will result in a branch to a
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* null loop - which in turn will prevent the check variable from incrementing
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* any further and allow the check task (described below) to determine that an
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* any further and allow the check timer (described below) to determine that an
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* error has occurred. The nature of the reg test tasks necessitates that they
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* are written in assembly code.
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*
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* "Check" task - This only executes every five seconds but has a high priority
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* to ensure it gets processor time. Its main function is to check that all the
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* standard demo tasks are still operational. While no errors have been
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* discovered the check task will toggle LED 5 every 5 seconds - the toggle
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* rate increasing to 200ms being a visual indication that at least one task has
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* reported unexpected behaviour.
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* "Check" timer - The check timer period is initially set to five seconds.
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* The check timer callback function checks that all the standard demo tasks are
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* functioning as expected, without error. If an error is discovered in any
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* standard demo task, then the check timer period is shortened to 200ms. The
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* check timer callback function also toggles an LED each time it is called.
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* Therefore, if the LED toggles every five seconds, all the tasks are
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* functioning as expected, without any error conditions being detected. If the
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* LED toggles every 200ms then an error has been discovered in at least one
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* task.
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*
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* "High frequency timer test" - A high frequency periodic interrupt is
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* generated using a timer - the interrupt is assigned a priority above
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* configMAX_SYSCALL_INTERRUPT_PRIORITY so should not be effected by anything
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* the kernel is doing. The frequency and priority of the interrupt, in
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* combination with other standard tests executed in this demo, should result
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* in interrupts nesting at least 3 and probably 4 deep. This test is only
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* included in build configurations that have the optimiser switched on. In
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* optimised builds the count of high frequency ticks is used as the time base
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* for the run time stats.
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*
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* *NOTE 1* If LED5 is toggling every 5 seconds then all the demo application
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* tasks are executing as expected and no errors have been reported in any
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* tasks. The toggle rate increasing to 200ms indicates that at least one task
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* has reported unexpected behaviour.
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*
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* *NOTE 2* vApplicationSetupTimerInterrupt() is called by the kernel to let
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* the application set up a timer to generate the tick interrupt. In this
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* example a compare match timer is used for this purpose.
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*
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* *NOTE 3* The CPU must be in Supervisor mode when the scheduler is started.
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* The PowerON_Reset_PC() supplied in resetprg.c with this demo has
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* Change_PSW_PM_to_UserMode() commented out to ensure this is the case.
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*
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* *NOTE 4* The IntQueue common demo tasks test interrupt nesting and make use
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* of all the 8bit timers (as two cascaded 16bit units).
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*/
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* This file also includes example implementations of the vApplicationTickHook(),
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* vApplicationIdleHook(), vApplicationStackOverflowHook(),
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* vApplicationMallocFailedHook(), vApplicationClearTimerInterrupt(), and
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* vApplicationSetupTimerInterrupt() callback (hook) functions.
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*/
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/* Standard includes. */
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#include <string.h>
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#include <stdio.h>
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/* BSP includes. */
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#include "xenv_standalone.h"
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#include "xtmrctr.h"
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#include "xil_exception.h"
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#include "microblaze_exceptions_g.h"
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#include "xgpio.h"
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/* Kernel includes. */
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#include "FreeRTOS.h"
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@ -150,8 +120,7 @@
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#include "flop.h"
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#include "dynamic.h"
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#include "comtest_strings.h"
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#define xPrintf( x )
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#include "TimerDemo.h"
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/* Priorities at which the tasks are created. */
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#define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 1 )
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@ -195,6 +164,8 @@ when the hardware was built, but the standard serial init function required a
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baud rate parameter. */
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#define mainCOM_TEST_BAUD_RATE ( XPAR_RS232_UART_1_BAUDRATE )
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#define mainTIMER_TEST_PERIOD ( 20 )
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/*
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* vApplicationMallocFailedHook() will only be called if
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* configUSE_MALLOC_FAILED_HOOK is set to 1 in FreeRTOSConfig.h. It is a hook
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@ -242,10 +213,6 @@ static void vCheckTimerCallback( xTimerHandle xTimer );
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static void prvSetupHardware( void );
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/*
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* Contains the implementation of the WEB server.
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*/
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//_RB_extern void vuIP_Task( void *pvParameters );
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/*-----------------------------------------------------------*/
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@ -263,6 +230,12 @@ static xTimerHandle xCheckTimer = NULL;
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int main( void )
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{
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/* *************************************************************************
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This project includes a lot of demo and test tasks, and is therefore complex.
|
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|
If you would prefer a much simpler project to get started with, then select
|
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|
|
|
the 'Blinky' build configuration within the SDK Eclipse IDE.
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***************************************************************************/
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/* Configure the interrupt controller, LED outputs and button inputs. */
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prvSetupHardware();
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@ -270,9 +243,6 @@ int main( void )
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xTaskCreate( vRegisterTest1, ( const signed char * const ) "RegTst1", configMINIMAL_STACK_SIZE, ( void * ) 0, tskIDLE_PRIORITY, NULL );
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xTaskCreate( vRegisterTest2, ( const signed char * const ) "RegTst2", configMINIMAL_STACK_SIZE, ( void * ) 0, tskIDLE_PRIORITY, NULL );
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/* The web server task. */
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//_RB_ xTaskCreate( vuIP_Task, "uIP", mainuIP_STACK_SIZE, NULL, mainuIP_TASK_PRIORITY, NULL );
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/* Create the standard demo tasks. */
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vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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vCreateBlockTimeTasks();
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@ -283,6 +253,8 @@ int main( void )
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vStartQueuePeekTasks();
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vStartRecursiveMutexTasks();
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vStartComTestStringsTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
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vStartDynamicPriorityTasks();
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vStartTimerDemoTask( mainTIMER_TEST_PERIOD );
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/* Note - the set of standard demo tasks contains two versions of
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vStartMathTasks.c. One is defined in flop.c, and uses double precision
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@ -305,12 +277,6 @@ int main( void )
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until after the scheduler has been started. */
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xCheckTimer = xTimerCreate( ( const signed char * ) "Check timer", mainNO_ERROR_CHECK_TIMER_PERIOD, pdTRUE, ( void * ) 0, vCheckTimerCallback );
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/* Ensure the check timer will start running as soon as the scheduler
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starts. The block time is set to 0 (mainDONT_BLOCK), but would be
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ingnored at this point anyway as block times can only be specified when
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the scheduler is running. */
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xTimerStart( xCheckTimer, mainDONT_BLOCK );
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/* Start the tasks running. */
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vTaskStartScheduler();
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@ -327,6 +293,7 @@ static void vCheckTimerCallback( xTimerHandle xTimer )
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extern unsigned long ulRegTest1CycleCount, ulRegTest2CycleCount;
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static volatile unsigned long ulLastRegTest1CycleCount = 0UL, ulLastRegTest2CycleCount = 0UL;
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static long lErrorAlreadyLatched = pdFALSE;
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portTickType xExecutionRate = mainNO_ERROR_CHECK_TIMER_PERIOD;
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/* This is the callback function used by the 'check' timer, as described
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at the top of this file. */
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@ -338,75 +305,60 @@ static long lErrorAlreadyLatched = pdFALSE;
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rate at which mainCHECK_LED flashes to give visual feedback that an error
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has occurred. */
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pcStatusMessage = "Error: GenQueue";
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xPrintf( pcStatusMessage );
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}
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if( xAreQueuePeekTasksStillRunning() != pdTRUE )
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else if( xAreQueuePeekTasksStillRunning() != pdTRUE )
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{
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pcStatusMessage = "Error: QueuePeek\r\n";
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xPrintf( pcStatusMessage );
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}
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if( xAreBlockingQueuesStillRunning() != pdTRUE )
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else if( xAreBlockingQueuesStillRunning() != pdTRUE )
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{
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pcStatusMessage = "Error: BlockQueue\r\n";
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xPrintf( pcStatusMessage );
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}
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if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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else if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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{
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pcStatusMessage = "Error: BlockTime\r\n";
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xPrintf( pcStatusMessage );
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}
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if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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else if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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{
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pcStatusMessage = "Error: SemTest\r\n";
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xPrintf( pcStatusMessage );
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}
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if( xArePollingQueuesStillRunning() != pdTRUE )
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else if( xArePollingQueuesStillRunning() != pdTRUE )
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{
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pcStatusMessage = "Error: PollQueue\r\n";
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xPrintf( pcStatusMessage );
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}
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if( xIsCreateTaskStillRunning() != pdTRUE )
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else if( xIsCreateTaskStillRunning() != pdTRUE )
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{
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pcStatusMessage = "Error: Death\r\n";
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xPrintf( pcStatusMessage );
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}
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if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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else if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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{
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pcStatusMessage = "Error: RecMutex\r\n";
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xPrintf( pcStatusMessage );
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}
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if( xAreMathsTaskStillRunning() != pdPASS )
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else if( xAreMathsTaskStillRunning() != pdPASS )
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{
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pcStatusMessage = "Error: Flop\r\n";
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xPrintf( pcStatusMessage );
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}
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if( xAreComTestTasksStillRunning() != pdPASS )
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else if( xAreComTestTasksStillRunning() != pdPASS )
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{
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pcStatusMessage = "Error: Comtest\r\n";
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xPrintf( pcStatusMessage );
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}
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/* Check the reg test tasks are still cycling. They will stop incrementing
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their loop counters if they encounter an error. */
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if( ulRegTest1CycleCount == ulLastRegTest1CycleCount )
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else if( xAreDynamicPriorityTasksStillRunning() != pdPASS )
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{
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pcStatusMessage = "Error: RegTest1\r\n";
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xPrintf( pcStatusMessage );
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pcStatusMessage = "Error: Dynamic\r\n";
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}
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if( ulRegTest2CycleCount == ulLastRegTest2CycleCount )
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else if( xAreTimerDemoTasksStillRunning( xExecutionRate ) != pdTRUE )
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{
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pcStatusMessage = "Error: TimerDemo";
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}
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else if( ulRegTest1CycleCount == ulLastRegTest1CycleCount )
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{
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/* Check the reg test tasks are still cycling. They will stop
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incrementing their loop counters if they encounter an error. */
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pcStatusMessage = "Error: RegTest1\r\n";
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}
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else if( ulRegTest2CycleCount == ulLastRegTest2CycleCount )
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{
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pcStatusMessage = "Error: RegTest2\r\n";
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xPrintf( pcStatusMessage );
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}
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ulLastRegTest1CycleCount = ulRegTest1CycleCount;
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@ -425,6 +377,11 @@ static long lErrorAlreadyLatched = pdFALSE;
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This is called from a timer callback so must not attempt to block. */
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xTimerChangePeriod( xTimer, mainERROR_CHECK_TIMER_PERIOD, mainDONT_BLOCK );
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/* Update the xExecutionRate variable as the rate at which this
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callback is executed has to be passed into the
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xAreTimerDemoTasksStillRunning() function. */
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xExecutionRate = mainERROR_CHECK_TIMER_PERIOD;
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/* Just to ensure the timer period is not changed on each execution
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of the callback. */
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lErrorAlreadyLatched = pdTRUE;
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@ -437,8 +394,7 @@ void vApplicationSetupTimerInterrupt( void )
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{
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portBASE_TYPE xStatus;
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const unsigned char ucTimerCounterNumber = ( unsigned char ) 0U;
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//const unsigned long ulCounterValue = ( ( XPAR_AXI_TIMER_0_CLOCK_FREQ_HZ / configTICK_RATE_HZ ) - 1UL );
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const unsigned long ulCounterValue = ( ( ( XPAR_AXI_TIMER_0_CLOCK_FREQ_HZ / configTICK_RATE_HZ ) - 1UL ) ) * 2UL; //_RB_ there is a clock set up incorrectly somwehre, the *2 should not be required.
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const unsigned long ulCounterValue = ( ( XPAR_AXI_TIMER_0_CLOCK_FREQ_HZ / configTICK_RATE_HZ ) - 1UL );
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extern void vTickISR( void *pvUnused );
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/* Initialise the timer/counter. */
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@ -478,9 +434,6 @@ void vApplicationClearTimerInterrupt( void )
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{
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unsigned long ulCSR;
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/* Increment the RTOS tick - this might cause a task to unblock. */
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vTaskIncrementTick();
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/* Clear the timer interrupt */
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ulCSR = XTmrCtr_GetControlStatusReg( XPAR_AXI_TIMER_0_BASEADDR, 0 );
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XTmrCtr_SetControlStatusReg( XPAR_AXI_TIMER_0_BASEADDR, 0, ulCSR );
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@ -509,6 +462,21 @@ void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed char *pcTaskName
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of this file. */
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void vApplicationIdleHook( void )
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{
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static long lCheckTimerStarted = pdFALSE;
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if( lCheckTimerStarted == pdFALSE )
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{
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xTimerStart( xCheckTimer, mainDONT_BLOCK ); //_RB_ comment why this is done here.
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lCheckTimerStarted = pdTRUE;
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}
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}
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/*-----------------------------------------------------------*/
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void vApplicationTickHook( void )
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{
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/* Call the periodic timer test, which tests the timer API functions that
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can be called from an ISR. */
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vTimerPeriodicISRTests();
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}
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/*-----------------------------------------------------------*/
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Richard Barry