2 FreeRTOS.org V4.7.0 - Copyright (C) 2003-2007 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 See http://www.FreeRTOS.org for documentation, latest information, license
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28 and contact details. Please ensure to read the configuration and relevant
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29 port sections of the online documentation.
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31 Also see http://www.SafeRTOS.com a version that has been certified for use
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32 in safety critical systems, plus commercial licensing, development and
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34 ***************************************************************************
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38 * This file contains a demo created to execute on the Rowley Associates
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39 * LPC2138 CrossFire development board.
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41 * main() creates all the demo application tasks, then starts the scheduler.
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42 * The WEB documentation provides more details of the standard demo application
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45 * Main.c also creates a task called "Check". This only executes every few
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46 * seconds but has a high priority so is guaranteed to get processor time.
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47 * Its function is to check that all the other tasks are still operational.
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48 * Each standard demo task maintains a unique count that is incremented each
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49 * time the task successfully completes its function. Should any error occur
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50 * within such a task the count is permanently halted. The check task inspects
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51 * the count of each task to ensure it has changed since the last time the
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52 * check task executed. If all the count variables have changed all the tasks
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53 * are still executing error free, and the check task writes "PASS" to the
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54 * CrossStudio terminal IO window. Should any task contain an error at any time
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55 * the error is latched and "FAIL" written to the terminal IO window.
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57 * Finally, main() sets up an interrupt service routine and task to handle
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58 * pushes of the button that is built into the CrossFire board. When the button
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59 * is pushed the ISR wakes the button task - which generates a table of task
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60 * status information which is also displayed on the terminal IO window.
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62 * A print task is defined to ensure exclusive and consistent access to the
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63 * terminal IO. This is the only task that is allowed to access the terminal.
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64 * The check and button task therefore do not access the terminal directly but
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65 * instead pass a pointer to the message they wish to display to the print task.
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68 /* Standard includes. */
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69 #include <__cross_studio_io.h>
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71 /* Scheduler includes. */
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72 #include "FreeRTOS.h"
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77 /* Demo app includes. */
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80 #include "dynamic.h"
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81 #include "integer.h"
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83 #include "blocktim.h"
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85 /* Hardware configuration definitions. */
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86 #define mainBUS_CLK_FULL ( ( unsigned portCHAR ) 0x01 )
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87 #define mainLED_BIT 0x80000000
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88 #define mainP0_14__EINT_1 ( 2 << 28 )
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89 #define mainEINT_1_EDGE_SENSITIVE 2
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90 #define mainEINT_1_FALLING_EDGE_SENSITIVE 0
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91 #define mainEINT_1_CHANNEL 15
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92 #define mainEINT_1_VIC_CHANNEL_BIT ( 1 << mainEINT_1_CHANNEL )
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93 #define mainEINT_1_ENABLE_BIT ( 1 << 5 )
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95 /* Demo application definitions. */
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96 #define mainQUEUE_SIZE ( 3 )
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97 #define mainLED_DELAY ( ( portTickType ) 500 / portTICK_RATE_MS )
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98 #define mainCHECK_DELAY ( ( portTickType ) 5000 / portTICK_RATE_MS )
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99 #define mainLIST_BUFFER_SIZE 2048
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100 #define mainNO_DELAY ( 0 )
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101 #define mainSHORT_DELAY ( 150 / portTICK_RATE_MS )
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103 /* Task priorities. */
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104 #define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
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105 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
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106 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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107 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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108 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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109 #define mainPRINT_TASK_PRIORITY ( tskIDLE_PRIORITY + 0 )
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111 /*-----------------------------------------------------------*/
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113 /* The semaphore used to wake the button task from within the external interrupt
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115 xSemaphoreHandle xButtonSemaphore;
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117 /* The queue that is used to send message to vPrintTask for display in the
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118 terminal output window. */
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119 xQueueHandle xPrintQueue;
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121 /*-----------------------------------------------------------*/
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124 * Simply flashes the on board LED every mainLED_DELAY milliseconds.
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126 static void vLEDTask( void *pvParameters );
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129 * Checks the status of all the demo tasks then prints a message to the
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130 * CrossStudio terminal IO windows. The message will be either PASS or FAIL
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131 * depending on the status of the demo applications tasks. A FAIL status will
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134 * Messages are not written directly to the terminal, but passed to vPrintTask
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137 static void vCheckTask( void *pvParameters );
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140 * Controls all terminal output. If a task wants to send a message to the
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141 * terminal IO it posts a pointer to the text to vPrintTask via a queue. This
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142 * ensures serial access to the terminal IO.
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144 static void vPrintTask( void *pvParameter );
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147 * Simply waits for an interrupt to be generated from the built in button, then
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148 * generates a table of tasks states that is then written by vPrintTask to the
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149 * terminal output window within CrossStudio.
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151 static void vButtonHandlerTask( void *pvParameters );
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153 /*-----------------------------------------------------------*/
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157 /* Setup the peripheral bus to be the same as the PLL output. */
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158 VPBDIV = mainBUS_CLK_FULL;
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160 /* Create the queue used to pass message to vPrintTask. */
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161 xPrintQueue = xQueueCreate( mainQUEUE_SIZE, sizeof( portCHAR * ) );
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163 /* Create the semaphore used to wake vButtonHandlerTask(). */
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164 vSemaphoreCreateBinary( xButtonSemaphore );
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165 xSemaphoreTake( xButtonSemaphore, 0 );
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167 /* Start the standard demo tasks. */
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168 vStartIntegerMathTasks( tskIDLE_PRIORITY );
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169 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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170 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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171 vStartDynamicPriorityTasks();
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172 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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173 vCreateBlockTimeTasks();
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175 /* Start the tasks defined within this file. */
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176 xTaskCreate( vLEDTask, "LED", configMINIMAL_STACK_SIZE, NULL, mainLED_TASK_PRIORITY, NULL );
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177 xTaskCreate( vCheckTask, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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178 xTaskCreate( vPrintTask, "Print", configMINIMAL_STACK_SIZE, NULL, mainPRINT_TASK_PRIORITY, NULL );
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179 xTaskCreate( vButtonHandlerTask, "Button", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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181 /* Start the scheduler. */
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182 vTaskStartScheduler();
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184 /* The scheduler should now be running, so we will only ever reach here if we
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185 ran out of heap space. */
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189 /*-----------------------------------------------------------*/
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191 static void vLEDTask( void *pvParameters )
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193 /* Configure IO. */
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194 IO0DIR |= mainLED_BIT;
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195 IO0SET = mainLED_BIT;
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199 /* Not very exiting - just delay... */
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200 vTaskDelay( mainLED_DELAY );
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202 /* ...set the IO ... */
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203 IO0CLR = mainLED_BIT;
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205 /* ...delay again... */
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206 vTaskDelay( mainLED_DELAY );
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208 /* ...then clear the IO. */
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209 IO0SET = mainLED_BIT;
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212 /*-----------------------------------------------------------*/
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214 static void vCheckTask( void *pvParameters )
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216 portBASE_TYPE xErrorOccurred = pdFALSE;
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217 portTickType xLastExecutionTime;
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218 const portCHAR * const pcPassMessage = "PASS\n";
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219 const portCHAR * const pcFailMessage = "FAIL\n";
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221 /* Initialise xLastExecutionTime so the first call to vTaskDelayUntil()
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222 works correctly. */
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223 xLastExecutionTime = xTaskGetTickCount();
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227 /* Perform this check every mainCHECK_DELAY milliseconds. */
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228 vTaskDelayUntil( &xLastExecutionTime, mainCHECK_DELAY );
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230 /* Has an error been found in any task? */
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232 if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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234 xErrorOccurred = pdTRUE;
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237 if( xArePollingQueuesStillRunning() != pdTRUE )
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239 xErrorOccurred = pdTRUE;
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242 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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244 xErrorOccurred = pdTRUE;
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247 if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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249 xErrorOccurred = pdTRUE;
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252 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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254 xErrorOccurred = pdTRUE;
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257 if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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259 xErrorOccurred = pdTRUE;
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262 /* Send either a pass or fail message. If an error is found it is
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263 never cleared again. */
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264 if( xErrorOccurred == pdTRUE )
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266 xQueueSend( xPrintQueue, &pcFailMessage, portMAX_DELAY );
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270 xQueueSend( xPrintQueue, &pcPassMessage, portMAX_DELAY );
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274 /*-----------------------------------------------------------*/
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276 static void vPrintTask( void *pvParameters )
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278 portCHAR *pcMessage;
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282 /* Wait for a message to arrive. */
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283 while( xQueueReceive( xPrintQueue, &pcMessage, portMAX_DELAY ) != pdPASS );
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285 /* Write the message to the terminal IO. */
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286 debug_printf( "%s", pcMessage );
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289 /*-----------------------------------------------------------*/
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291 static void vButtonHandlerTask( void *pvParameters )
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293 static portCHAR cListBuffer[ mainLIST_BUFFER_SIZE ];
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294 const portCHAR *pcList = &( cListBuffer[ 0 ] );
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295 const portCHAR * const pcHeader = "\nTask State Priority Stack #\n************************************************";
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296 extern void (vButtonISRWrapper) ( void );
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298 /* Configure the interrupt. */
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299 portENTER_CRITICAL();
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301 /* Configure P0.14 to generate interrupts. */
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302 PINSEL0 |= mainP0_14__EINT_1;
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303 EXTMODE = mainEINT_1_EDGE_SENSITIVE;
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304 EXTPOLAR = mainEINT_1_FALLING_EDGE_SENSITIVE;
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306 /* Setup the VIC for EINT 1. */
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307 VICIntSelect &= ~mainEINT_1_VIC_CHANNEL_BIT;
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308 VICIntEnable |= mainEINT_1_VIC_CHANNEL_BIT;
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309 VICVectAddr1 = ( portLONG ) vButtonISRWrapper;
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310 VICVectCntl1 = mainEINT_1_ENABLE_BIT | mainEINT_1_CHANNEL;
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312 portEXIT_CRITICAL();
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316 /* For debouncing, wait a while then clear the semaphore. */
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317 vTaskDelay( mainSHORT_DELAY );
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318 xSemaphoreTake( xButtonSemaphore, mainNO_DELAY );
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320 /* Wait for an interrupt. */
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321 xSemaphoreTake( xButtonSemaphore, portMAX_DELAY );
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323 /* Send the column headers to the print task for display. */
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324 xQueueSend( xPrintQueue, &pcHeader, portMAX_DELAY );
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326 /* Create the list of task states. */
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327 vTaskList( cListBuffer );
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329 /* Send the task status information to the print task for display. */
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330 xQueueSend( xPrintQueue, &pcList, portMAX_DELAY );
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333 /*-----------------------------------------------------------*/
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