331 lines
13 KiB
C
331 lines
13 KiB
C
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/*
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* FreeRTOS Kernel V10.2.1
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* Copyright (C) 2019 Amazon.com, Inc. or its affiliates. All Rights Reserved.
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy of
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* this software and associated documentation files (the "Software"), to deal in
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* the Software without restriction, including without limitation the rights to
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* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
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* the Software, and to permit persons to whom the Software is furnished to do so,
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* subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in all
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* copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
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* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
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* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
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* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
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* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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*
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* http://www.FreeRTOS.org
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* http://aws.amazon.com/freertos
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*
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* 1 tab == 4 spaces!
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*/
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/*
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* An example that mimics a message buffer being used to pass data from one core
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* to another. The core that sends the data is referred to as core A. The core
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* that receives the data is referred to as core B. The task implemented by
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* prvCoreATask() runs on core A. Two instances of the task implemented by
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* prvCoreBTasks() run on core B. prvCoreATask() sends messages via message
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* buffers to both instances of prvCoreBTasks(), one message buffer per channel.
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* A third message buffer is used to pass the handle of the message buffer
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* written to by core A to an interrupt service routine that is triggered by
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* core A but executes on core B.
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*
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* The example relies on the FreeRTOS provided default implementation of
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* sbSEND_COMPLETED() being overridden by an implementation in FreeRTOSConfig.h
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* that writes the handle of the message buffer that contains data into the
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* control message buffer, then generates an interrupt in core B. The necessary
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* implementation is provided in this file and can be enabled by adding the
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* following to FreeRTOSConfig.h:
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*
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* #define sbSEND_COMPLETED( pxStreamBuffer ) vGenerateCoreBInterrupt( pxStreamBuffer )
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*
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* Core to core communication via message buffer requires the message buffers
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* to be at an address known to both cores within shared memory.
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*
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* Note that, while this example uses three message buffers, the same
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* functionality can be implemented using a single message buffer by using the
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* same design pattern described on the link below for queues, but using message
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* buffers instead. It is actually simpler with a message buffer as variable
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* length data can be written into the message buffer directly:
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* http://www.freertos.org/Pend-on-multiple-rtos-objects.html#alternative_design_pattern
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*/
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/* Standard includes. */
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#include "stdio.h"
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#include "string.h"
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/* FreeRTOS includes. */
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#include "FreeRTOS.h"
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#include "task.h"
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#include "message_buffer.h"
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/* Demo app includes. */
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#include "MessageBufferAMP.h"
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/* Enough for 3 4 byte pointers, including the additional 4 bytes per message
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overhead of message buffers. */
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#define mbaCONTROL_MESSAGE_BUFFER_SIZE ( 24 )
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/* Enough four 4 8 byte strings, plus the additional 4 bytes per message
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overhead of message buffers. */
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#define mbaTASK_MESSAGE_BUFFER_SIZE ( 60 )
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/* The number of instances of prvCoreBTasks that are created. */
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#define mbaNUMBER_OF_CORE_B_TASKS 2
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/* A block time of 0 simply means, don't block. */
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#define mbaDONT_BLOCK 0
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/* Macro that mimics an interrupt service routine executing by simply calling
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the routine inline. */
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#define mbaGENERATE_CORE_B_INTERRUPT() prvCoreBInterruptHandler()
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/*-----------------------------------------------------------*/
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/*
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* Implementation of the task that, on a real dual core device, would run on
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* core A and send message to tasks running on core B.
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*/
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static void prvCoreATask( void *pvParameters );
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/*
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* Implementation of the task that, on a real dual core device, would run on
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* core B and receive message from core A. The demo creates two instances of
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* this task.
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*/
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static void prvCoreBTasks( void *pvParameters );
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/*
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* The function that, on a real dual core device, would handle inter-core
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* interrupts, but in this case is just called inline.
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*/
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static void prvCoreBInterruptHandler( void );
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/*-----------------------------------------------------------*/
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/* The message buffers used to pass data from core A to core B. */
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static MessageBufferHandle_t xCoreBMessageBuffers[ mbaNUMBER_OF_CORE_B_TASKS ];
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/* The control message buffer. This is used to pass the handle of the message
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message buffer that holds application data into the core to core interrupt
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service routine. */
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static MessageBufferHandle_t xControlMessageBuffer;
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/* Counters used to indicate to the check that the tasks are still executing. */
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static uint32_t ulCycleCounters[ mbaNUMBER_OF_CORE_B_TASKS ];
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/* Set to pdFALSE if any errors are detected. Used to inform the check task
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that something might be wrong. */
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BaseType_t xDemoStatus = pdPASS;
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/*-----------------------------------------------------------*/
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void vStartMessageBufferAMPTasks( configSTACK_DEPTH_TYPE xStackSize )
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{
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BaseType_t x;
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xControlMessageBuffer = xMessageBufferCreate( mbaCONTROL_MESSAGE_BUFFER_SIZE );
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xTaskCreate( prvCoreATask, /* The function that implements the task. */
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"AMPCoreA", /* Human readable name for the task. */
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xStackSize, /* Stack size (in words!). */
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NULL, /* Task parameter is not used. */
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tskIDLE_PRIORITY, /* The priority at which the task is created. */
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NULL ); /* No use for the task handle. */
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for( x = 0; x < mbaNUMBER_OF_CORE_B_TASKS; x++ )
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{
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xCoreBMessageBuffers[ x ] = xMessageBufferCreate( mbaTASK_MESSAGE_BUFFER_SIZE );
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configASSERT( xCoreBMessageBuffers[ x ] );
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/* Pass the loop counter into the created task using the task's
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parameter. The task then uses the value as an index into the
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ulCycleCounters and xCoreBMessageBuffers arrays. */
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xTaskCreate( prvCoreBTasks,
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"AMPCoreB1",
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xStackSize,
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( void * ) x,
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tskIDLE_PRIORITY + 1,
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NULL );
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}
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}
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/*-----------------------------------------------------------*/
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static void prvCoreATask( void *pvParameters )
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{
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BaseType_t x;
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uint32_t ulNextValue = 0;
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const TickType_t xDelay = pdMS_TO_TICKS( 250 );
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char cString[ 15 ]; /* At least large enough to hold "4294967295\0" (0xffffffff). */
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/* Remove warning about unused parameters. */
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( void ) pvParameters;
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for( ;; )
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{
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/* Create the next string to send. The value is incremented on each
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loop iteration, and the length of the string changes as the number of
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digits in the value increases. */
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sprintf( cString, "%lu", ( unsigned long ) ulNextValue );
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/* Send the value from this (pseudo) Core A to the tasks on the (pseudo)
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Core B via the message buffers. This will result in sbSEND_COMPLETED()
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being executed, which in turn will write the handle of the message
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buffer written to into xControlMessageBuffer then generate an interrupt
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in core B. */
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for( x = 0; x < mbaNUMBER_OF_CORE_B_TASKS; x++ )
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{
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xMessageBufferSend( /* The message buffer to write to. */
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xCoreBMessageBuffers[ x ],
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/* The source of the data to send. */
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( void * ) cString,
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/* The length of the data to send. */
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strlen( cString ),
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/* The block time, should the buffer be full. */
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mbaDONT_BLOCK );
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}
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/* Delay before repeating with a different and potentially different
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length string. */
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vTaskDelay( xDelay );
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ulNextValue++;
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}
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}
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/*-----------------------------------------------------------*/
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static void prvCoreBTasks( void *pvParameters )
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{
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BaseType_t x;
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size_t xReceivedBytes;
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uint32_t ulNextValue = 0;
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char cExpectedString[ 15 ]; /* At least large enough to hold "4294967295\0" (0xffffffff). */
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char cReceivedString[ 15 ];
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/* The index into the xCoreBMessageBuffers and ulLoopCounter arrays is
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passed into this task using the task's parameter. */
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x = ( BaseType_t ) pvParameters;
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configASSERT( x < mbaNUMBER_OF_CORE_B_TASKS );
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for( ;; )
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{
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/* Create the string that is expected to be received this time round. */
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sprintf( cExpectedString, "%lu", ( unsigned long ) ulNextValue );
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/* Wait to receive the next message from core A. */
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memset( cReceivedString, 0x00, sizeof( cReceivedString ) );
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xReceivedBytes = xMessageBufferReceive( /* The message buffer to receive from. */
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xCoreBMessageBuffers[ x ],
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/* Location to store received data. */
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cReceivedString,
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/* Maximum number of bytes to receive. */
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sizeof( cReceivedString ),
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/* Ticks to wait if buffer is empty. */
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portMAX_DELAY );
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/* Check the number of bytes received was as expected. */
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configASSERT( xReceivedBytes == strlen( cExpectedString ) );
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( void ) xReceivedBytes; /* Incase configASSERT() is not defined. */
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/* If the received string matches that expected then increment the loop
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counter so the check task knows this task is still running. */
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if( strcmp( cReceivedString, cExpectedString ) == 0 )
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{
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( ulCycleCounters[ x ] )++;
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}
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else
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{
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xDemoStatus = pdFAIL;
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}
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/* Expect the next string in sequence the next time around. */
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ulNextValue++;
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}
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}
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/*-----------------------------------------------------------*/
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/* Called by the reimplementation of sbSEND_COMPLETED(), which can be defined
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as follows in FreeRTOSConfig.h:
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#define sbSEND_COMPLETED( pxStreamBuffer ) vGenerateCoreBInterrupt( pxStreamBuffer )
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*/
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void vGenerateCoreBInterrupt( void * xUpdatedMessageBuffer )
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{
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MessageBufferHandle_t xUpdatedBuffer = ( MessageBufferHandle_t ) xUpdatedMessageBuffer;
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/* If sbSEND_COMPLETED() has been implemented as above, then this function
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is called from within xMessageBufferSend(). As this function also calls
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xMessageBufferSend() itself it is necessary to guard against a recursive
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call. If the message buffer just updated is the message buffer written to
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by this function, then this is a recursive call, and the function can just
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exit without taking further action. */
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if( xUpdatedBuffer != xControlMessageBuffer )
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{
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/* Use xControlMessageBuffer to pass the handle of the message buffer
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written to by core A to the interrupt handler about to be generated in
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core B. */
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xMessageBufferSend( xControlMessageBuffer, &xUpdatedBuffer, sizeof( xUpdatedBuffer ), mbaDONT_BLOCK );
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/* This is where the interrupt would be generated. In this case it is
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not a genuine interrupt handler that executes, just a standard function
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call. */
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mbaGENERATE_CORE_B_INTERRUPT();
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}
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}
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/*-----------------------------------------------------------*/
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/* Handler for the interrupts that are triggered on core A but execute on core
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B. */
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static void prvCoreBInterruptHandler( void )
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{
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MessageBufferHandle_t xUpdatedMessageBuffer;
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BaseType_t xHigherPriorityTaskWoken = pdFALSE;
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/* xControlMessageBuffer contains the handle of the message buffer that
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contains data. */
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if( xMessageBufferReceive( xControlMessageBuffer,
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&xUpdatedMessageBuffer,
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sizeof( xUpdatedMessageBuffer ),
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mbaDONT_BLOCK ) == sizeof( xUpdatedMessageBuffer ) )
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{
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/* Call the API function that sends a notification to any task that is
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blocked on the xUpdatedMessageBuffer message buffer waiting for data to
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arrive. */
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xMessageBufferSendCompletedFromISR( xUpdatedMessageBuffer, &xHigherPriorityTaskWoken );
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}
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/* Normal FreeRTOS yield from interrupt semantics, where
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xHigherPriorityTaskWoken is initialzed to pdFALSE and will then get set to
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pdTRUE if the interrupt safe API unblocks a task that has a priority above
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that of the currently executing task. */
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portYIELD_FROM_ISR( xHigherPriorityTaskWoken );
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}
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/*-----------------------------------------------------------*/
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BaseType_t xAreMessageBufferAMPTasksStillRunning( void )
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{
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static uint32_t ulLastCycleCounters[ mbaNUMBER_OF_CORE_B_TASKS ] = { 0 };
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BaseType_t x;
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/* Called by the check task to determine the health status of the tasks
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implemented in this demo. */
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for( x = 0; x < mbaNUMBER_OF_CORE_B_TASKS; x++ )
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{
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if( ulLastCycleCounters[ x ] == ulCycleCounters[ x ] )
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{
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xDemoStatus = pdFAIL;
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}
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else
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{
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ulLastCycleCounters[ x ] = ulCycleCounters[ x ];
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}
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}
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return xDemoStatus;
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}
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