2 FreeRTOS.org V5.1.2 - Copyright (C) 2003-2009 Richard Barry.
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4 This file is part of the FreeRTOS.org distribution.
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6 FreeRTOS.org is free software; you can redistribute it and/or modify
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7 it under the terms of the GNU General Public License as published by
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8 the Free Software Foundation; either version 2 of the License, or
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9 (at your option) any later version.
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11 FreeRTOS.org is distributed in the hope that it will be useful,
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12 but WITHOUT ANY WARRANTY; without even the implied warranty of
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13 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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14 GNU General Public License for more details.
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16 You should have received a copy of the GNU General Public License
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17 along with FreeRTOS.org; if not, write to the Free Software
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18 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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20 A special exception to the GPL can be applied should you wish to distribute
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21 a combined work that includes FreeRTOS.org, without being obliged to provide
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22 the source code for any proprietary components. See the licensing section
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23 of http://www.FreeRTOS.org for full details of how and when the exception
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26 ***************************************************************************
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27 ***************************************************************************
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29 * Get the FreeRTOS eBook! See http://www.FreeRTOS.org/Documentation *
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31 * This is a concise, step by step, 'hands on' guide that describes both *
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32 * general multitasking concepts and FreeRTOS specifics. It presents and *
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33 * explains numerous examples that are written using the FreeRTOS API. *
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34 * Full source code for all the examples is provided in an accompanying *
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37 ***************************************************************************
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38 ***************************************************************************
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40 Please ensure to read the configuration and relevant port sections of the
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41 online documentation.
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43 http://www.FreeRTOS.org - Documentation, latest information, license and
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46 http://www.SafeRTOS.com - A version that is certified for use in safety
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49 http://www.OpenRTOS.com - Commercial support, development, porting,
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50 licensing and training services.
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55 NOTE : Tasks run in system mode and the scheduler runs in Supervisor mode.
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56 The processor MUST be in supervisor mode when vTaskStartScheduler is
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57 called. The demo applications included in the FreeRTOS.org download switch
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58 to supervisor mode prior to main being called. If you are not using one of
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59 these demo application projects then ensure Supervisor mode is used.
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64 * Creates all the demo application tasks, then starts the scheduler. The WEB
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65 * documentation provides more details of the demo application tasks.
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67 * Main.c also creates a task called "Check". This only executes every three
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68 * seconds but has the highest priority so is guaranteed to get processor time.
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69 * Its main function is to check that all the other tasks are still operational.
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70 * Each task (other than the "flash" tasks) maintains a unique count that is
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71 * incremented each time the task successfully completes its function. Should
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72 * any error occur within such a task the count is permanently halted. The
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73 * check task inspects the count of each task to ensure it has changed since
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74 * the last time the check task executed. If all the count variables have
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75 * changed all the tasks are still executing error free, and the check task
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76 * toggles the onboard LED. Should any task contain an error at any time
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77 * the LED toggle rate will change from 3 seconds to 500ms.
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81 /* Standard includes. */
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84 /* Scheduler includes. */
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85 #include "FreeRTOS.h"
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88 /* Demo application includes. */
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90 #include "integer.h"
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93 #include "semtest.h"
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94 #include "dynamic.h"
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95 #include "partest.h"
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96 #include "comtest2.h"
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98 /* Priorities for the demo application tasks. */
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99 #define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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100 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
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101 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 4 )
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102 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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103 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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104 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
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106 /* Constants required by the 'Check' task. */
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107 #define mainNO_ERROR_FLASH_PERIOD ( ( portTickType ) 3000 / portTICK_RATE_MS )
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108 #define mainERROR_FLASH_PERIOD ( ( portTickType ) 500 / portTICK_RATE_MS )
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109 #define mainCHECK_TASK_LED ( 7 )
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111 /* Constants for the ComTest tasks. */
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112 #define mainCOM_TEST_BAUD_RATE ( ( unsigned portLONG ) 115200 )
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113 #define mainCOM_TEST_LED ( 4 )
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114 #define mainTX_ENABLE ( ( unsigned portLONG ) 0x0001 )
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115 #define mainRX_ENABLE ( ( unsigned portLONG ) 0x0004 )
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117 /* Constants to setup the PLL. */
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118 #define mainPLL_MUL_5 ( ( unsigned portCHAR ) 0x0004 )
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119 #define mainPLL_DIV_1 ( ( unsigned portCHAR ) 0x0000 )
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120 #define mainPLL_ENABLE ( ( unsigned portCHAR ) 0x0001 )
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121 #define mainPLL_CONNECT ( ( unsigned portCHAR ) 0x0003 )
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122 #define mainPLL_FEED_BYTE1 ( ( unsigned portCHAR ) 0xaa )
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123 #define mainPLL_FEED_BYTE2 ( ( unsigned portCHAR ) 0x55 )
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124 #define mainPLL_LOCK ( ( unsigned portLONG ) 0x0400 )
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126 /* Constants to setup the MAM. */
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127 #define mainMAM_TIM_3 ( ( unsigned portCHAR ) 0x03 )
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128 #define mainMAM_MODE_FULL ( ( unsigned portCHAR ) 0x02 )
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130 /* Constants to setup the peripheral bus. */
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131 #define mainBUS_CLK_FULL ( ( unsigned portCHAR ) 0x01 )
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133 /* And finally, constant to setup the port for the LED's. */
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134 #define mainLED_TO_OUTPUT ( ( unsigned portLONG ) 0xff0000 )
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137 * The task that executes at the highest priority and calls
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138 * prvCheckOtherTasksAreStillRunning(). See the description at the top
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141 static void vErrorChecks( void *pvParameters );
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144 * Configures the processor for use with this demo.
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146 static void prvSetupHardware( void );
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149 * Checks that all the demo application tasks are still executing without error
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150 * - as described at the top of the file.
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152 static portLONG prvCheckOtherTasksAreStillRunning( void );
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155 /*-----------------------------------------------------------*/
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158 * Starts all the other tasks, then starts the scheduler.
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162 /* Setup the processor. */
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163 prvSetupHardware();
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165 /* Start all the standard demo application tasks. */
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166 vStartIntegerMathTasks( tskIDLE_PRIORITY );
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167 vStartLEDFlashTasks( mainLED_TASK_PRIORITY );
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168 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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169 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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170 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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171 vStartDynamicPriorityTasks();
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172 vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
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174 /* Start the check task - which is defined in this file. */
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175 xTaskCreate( vErrorChecks, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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177 /* Start the scheduler.
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179 NOTE : Tasks run in system mode and the scheduler runs in Supervisor mode.
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180 The processor MUST be in supervisor mode when vTaskStartScheduler is
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181 called. The demo applications included in the FreeRTOS.org download switch
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182 to supervisor mode prior to main being called. If you are not using one of
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183 these demo application projects then ensure Supervisor mode is used here.
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185 vTaskStartScheduler();
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187 /* We should never get here as control is now taken by the scheduler. */
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190 /*-----------------------------------------------------------*/
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192 static void prvSetupHardware( void )
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194 /* Setup the PLL to multiply the XTAL input by 5. */
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195 PLLCFG = ( mainPLL_MUL_5 | mainPLL_DIV_1 );
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197 /* Activate the PLL by turning it on then feeding the correct sequence of
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199 PLLCON = mainPLL_ENABLE;
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200 PLLFEED = mainPLL_FEED_BYTE1;
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201 PLLFEED = mainPLL_FEED_BYTE2;
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203 /* Wait for the PLL to lock... */
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204 while( !( PLLSTAT & mainPLL_LOCK ) );
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206 /* ...before connecting it using the feed sequence again. */
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207 PLLCON = mainPLL_CONNECT;
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208 PLLFEED = mainPLL_FEED_BYTE1;
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209 PLLFEED = mainPLL_FEED_BYTE2;
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211 /* Setup and turn on the MAM. Three cycle access is used due to the fast
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212 PLL used. It is possible faster overall performance could be obtained by
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213 tuning the MAM and PLL settings. */
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214 MAMTIM = mainMAM_TIM_3;
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215 MAMCR = mainMAM_MODE_FULL;
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217 /* Setup the peripheral bus to be the same as the PLL output. */
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218 APBDIV = mainBUS_CLK_FULL;
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220 /* Configure the RS2332 pins. All other pins remain at their default of 0. */
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221 PINSEL0 |= mainTX_ENABLE;
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222 PINSEL0 |= mainRX_ENABLE;
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224 /* LED pins need to be output. */
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225 IO1DIR = mainLED_TO_OUTPUT;
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227 /* Setup the peripheral bus to be the same as the PLL output. */
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228 APBDIV = mainBUS_CLK_FULL;
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230 /*-----------------------------------------------------------*/
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232 static void vErrorChecks( void *pvParameters )
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234 portTickType xDelayPeriod = mainNO_ERROR_FLASH_PERIOD;
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236 /* The parameters are not used in this task. */
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237 ( void ) pvParameters;
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239 /* Cycle for ever, delaying then checking all the other tasks are still
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240 operating without error. If an error is detected then the delay period
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241 is decreased from mainNO_ERROR_FLASH_PERIOD to mainERROR_FLASH_PERIOD so
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242 the on board LED flash rate will increase. */
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246 /* Delay until it is time to execute again. */
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247 vTaskDelay( xDelayPeriod );
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249 /* Check all the standard demo application tasks are executing without
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251 if( prvCheckOtherTasksAreStillRunning() != pdPASS )
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253 /* An error has been detected in one of the tasks - flash faster. */
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254 xDelayPeriod = mainERROR_FLASH_PERIOD;
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257 vParTestToggleLED( mainCHECK_TASK_LED );
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260 /*-----------------------------------------------------------*/
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262 static portLONG prvCheckOtherTasksAreStillRunning( void )
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264 portLONG lReturn = ( portLONG ) pdPASS;
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266 /* Check all the demo tasks (other than the flash tasks) to ensure
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267 that they are all still running, and that none of them have detected
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270 if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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272 lReturn = ( portLONG ) pdFAIL;
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275 if( xArePollingQueuesStillRunning() != pdTRUE )
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277 lReturn = ( portLONG ) pdFAIL;
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280 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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282 lReturn = ( portLONG ) pdFAIL;
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285 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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287 lReturn = ( portLONG ) pdFAIL;
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290 if( xAreComTestTasksStillRunning() != pdTRUE )
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292 lReturn = ( portLONG ) pdFAIL;
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295 if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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297 lReturn = ( portLONG ) pdFAIL;
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302 /*-----------------------------------------------------------*/
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