kopia lustrzana https://github.com/espressif/esp-idf
230 wiersze
5.9 KiB
C
230 wiersze
5.9 KiB
C
/*
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Test for multicore FreeRTOS. This test spins up threads, fiddles with queues etc.
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*/
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#include <esp_types.h>
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#include <stdio.h>
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#include "rom/ets_sys.h"
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#include "freertos/FreeRTOS.h"
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#include "freertos/task.h"
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#include "freertos/semphr.h"
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#include "freertos/queue.h"
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#include "freertos/xtensa_api.h"
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#include "unity.h"
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#include "soc/uart_reg.h"
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#include "soc/dport_reg.h"
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#include "soc/io_mux_reg.h"
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void ets_isr_unmask(uint32_t unmask);
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static xQueueHandle myQueue;
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static xQueueHandle uartRxQueue;
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int ctr;
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#if 1
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//Idle-loop for delay. Tests involuntary yielding
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static void cvTaskDelay(int dummy)
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{
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volatile int i;
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for (i = 0; i < (1 << 17); i++);
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}
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#else
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//Delay task execution using FreeRTOS methods. Tests voluntary yielding.
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#define cvTaskDelay(x) vTaskDelay(x)
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#endif
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#if 0
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static void dosegfault3(int i)
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{
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volatile char *p = (volatile char *)0;
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*p = i;
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}
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static void dosegfault2(int i)
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{
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if (i > 3) {
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dosegfault3(i);
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}
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}
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static void dosegfault(int i)
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{
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if (i < 5) {
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dosegfault(i + 1);
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}
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dosegfault2(i);
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}
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#endif
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static void queueSender(void *pvParameters)
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{
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int myCtr = xPortGetCoreID() * 100000;
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while (1) {
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printf("Core %d: Send to queue: %d\n", xPortGetCoreID(), myCtr);
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xQueueSend(myQueue, (void *)(&myCtr), portMAX_DELAY);
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printf("Send to queue done.\n");
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cvTaskDelay(100);
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myCtr++;
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}
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}
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static void queueReceiver(void *pvParameters)
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{
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int theCtr;
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while (1) {
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xQueueReceive(myQueue, &theCtr, portMAX_DELAY);
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printf("Core %d: Receive from queue: %d\n", xPortGetCoreID(), theCtr);
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}
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}
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static void tskone(void *pvParameters)
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{
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// char *p=(char *)0;
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while (1) {
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ctr++;
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// if (ctr>60) dosegfault(3);
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printf("Task1, core %d, ctr=%d\n", xPortGetCoreID(), ctr);
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cvTaskDelay(500);
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}
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}
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static void tsktwo(void *pvParameters)
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{
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while (1) {
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ctr++;
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printf("Task2, core %d, ctr=%d\n", xPortGetCoreID(), ctr);
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cvTaskDelay(500);
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}
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}
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static void tskthree(void *pvParameters)
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{
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while (1) {
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ctr++;
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printf("Task3, core %d, ctr=%d\n", xPortGetCoreID(), ctr);
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cvTaskDelay(500);
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}
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}
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static void tskfour(void *pvParameters)
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{
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while (1) {
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ctr++;
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printf("Task4, core %d, ctr=%d\n", xPortGetCoreID(), ctr);
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cvTaskDelay(500);
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}
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}
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static void tskfive(void *pvParameters)
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{
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while (1) {
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ctr++;
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printf("Task5, core %d, ctr=%d\n", xPortGetCoreID(), ctr);
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cvTaskDelay(500);
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}
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}
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static void tskyield(void *pvParameters)
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{
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while (1) {
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portYIELD();
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}
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}
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static void tskUartRecv(void *pvParameters)
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{
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char c;
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while (1) {
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xQueueReceive(uartRxQueue, &c, portMAX_DELAY);
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printf("Uart received %c!\n", c);
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}
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}
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static void uartIsrHdl(void *arg)
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{
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char c;
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BaseType_t xHigherPriorityTaskWoken;
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SET_PERI_REG_MASK(UART_INT_CLR_REG(0), UART_RXFIFO_FULL_INT_CLR);
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while (READ_PERI_REG(UART_STATUS_REG(0)) & (UART_RXFIFO_CNT << UART_RXFIFO_CNT_S)) {
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c = READ_PERI_REG(UART_FIFO_REG(0));
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xQueueSendFromISR(uartRxQueue, &c, &xHigherPriorityTaskWoken);
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printf("ISR: %c\n", c);
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}
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if (xHigherPriorityTaskWoken) {
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portYIELD_FROM_ISR();
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}
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}
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static void uartRxInit(xQueueHandle q)
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{
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uint32_t reg_val;
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PIN_PULLUP_DIS(PERIPHS_IO_MUX_U0TXD_U);
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PIN_FUNC_SELECT(PERIPHS_IO_MUX_U0RXD_U, FUNC_U0RXD_U0RXD);
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PIN_FUNC_SELECT(PERIPHS_IO_MUX_U0TXD_U, FUNC_U0TXD_U0TXD);
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PIN_FUNC_SELECT(PERIPHS_IO_MUX_U0RXD_U, FUNC_U0RXD_U0RXD);
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// reg_val = READ_PERI_REG(UART_CONF1(0));
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reg_val = (1 << UART_RXFIFO_FULL_THRHD_S);
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WRITE_PERI_REG(UART_CONF1_REG(0), reg_val);
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CLEAR_PERI_REG_MASK(UART_INT_ENA_REG(0), UART_TXFIFO_EMPTY_INT_ENA | UART_RXFIFO_TOUT_INT_ENA);
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SET_PERI_REG_MASK(UART_INT_ENA_REG(0), UART_RXFIFO_FULL_INT_ENA);
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printf("Enabling int %d\n", ETS_UART0_INUM);
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REG_SET_FIELD(DPORT_PRO_UART_INTR_MAP_REG, DPORT_PRO_UART_INTR_MAP, ETS_UART0_INUM);
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REG_SET_FIELD(DPORT_PRO_UART1_INTR_MAP_REG, DPORT_PRO_UART1_INTR_MAP, ETS_UART0_INUM);
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xt_set_interrupt_handler(ETS_UART0_INUM, uartIsrHdl, NULL);
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xt_ints_on(1 << ETS_UART0_INUM);
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}
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// TODO: split this thing into separate orthogonal tests
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TEST_CASE("Bunch of FreeRTOS tests", "[freertos][ignore]")
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{
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char *tst;
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TaskHandle_t th[12];
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int i;
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printf("%s\n", __FUNCTION__);
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tst = pvPortMalloc(16);
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printf("Test malloc returns addr %p\n", tst);
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printf("Free heap: %u\n", xPortGetFreeHeapSize());
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myQueue = xQueueCreate(10, sizeof(int));
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uartRxQueue = xQueueCreate(256, sizeof(char));
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printf("Free heap: %u\n", xPortGetFreeHeapSize());
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printf("Creating tasks\n");
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xTaskCreatePinnedToCore(tskyield , "tskyield1" , 2048, NULL, 3, &th[0], 0);
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xTaskCreatePinnedToCore(tskyield , "tskyield2" , 2048, NULL, 3, &th[1], 1);
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xTaskCreatePinnedToCore(tskone , "tskone" , 2048, NULL, 3, &th[2], 0);
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xTaskCreatePinnedToCore(tsktwo , "tsktwo" , 2048, NULL, 3, &th[3], 1);
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xTaskCreatePinnedToCore(tskthree, "tskthree", 2048, NULL, 3, &th[4], 0);
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xTaskCreatePinnedToCore(tskfour , "tskfour" , 2048, NULL, 3, &th[5], tskNO_AFFINITY);
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xTaskCreatePinnedToCore(tskfive , "tskfive" , 2048, NULL, 3, &th[6], tskNO_AFFINITY);
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xTaskCreatePinnedToCore(queueSender , "qsend1" , 2048, NULL, 3, &th[7], 0);
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xTaskCreatePinnedToCore(queueSender , "qsend2" , 2048, NULL, 3, &th[8], 1);
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xTaskCreatePinnedToCore(queueReceiver , "qrecv1" , 2048, NULL, 3, &th[9], 1);
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xTaskCreatePinnedToCore(queueReceiver , "qrecv2" , 2048, NULL, 3, &th[10], 0);
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xTaskCreatePinnedToCore(tskUartRecv , "tskuart" , 2048, NULL, 4, &th[11], 1);
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printf("Free heap: %u\n", xPortGetFreeHeapSize());
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uartRxInit(uartRxQueue);
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// Let stuff run for 20s
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vTaskDelay(20000 / portTICK_PERIOD_MS);
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//Shut down all the tasks
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for (i = 0; i < 12; i++) {
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vTaskDelete(th[i]);
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}
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xt_ints_off(1 << ETS_UART0_INUM);
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}
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