2 FreeRTOS V6.0.0 - Copyright (C) 2009 Real Time Engineers Ltd.
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4 This file is part of the FreeRTOS distribution.
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6 FreeRTOS is free software; you can redistribute it and/or modify it under
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7 the terms of the GNU General Public License (version 2) as published by the
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8 Free Software Foundation and modified by the FreeRTOS exception.
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9 **NOTE** The exception to the GPL is included to allow you to distribute a
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10 combined work that includes FreeRTOS without being obliged to provide the
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11 source code for proprietary components outside of the FreeRTOS kernel.
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12 Alternative commercial license and support terms are also available upon
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13 request. See the licensing section of http://www.FreeRTOS.org for full
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16 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT
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17 ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
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18 FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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21 You should have received a copy of the GNU General Public License along
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22 with FreeRTOS; if not, write to the Free Software Foundation, Inc., 59
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23 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
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26 ***************************************************************************
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28 * The FreeRTOS eBook and reference manual are available to purchase for a *
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29 * small fee. Help yourself get started quickly while also helping the *
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30 * FreeRTOS project! See http://www.FreeRTOS.org/Documentation for details *
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32 ***************************************************************************
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36 Please ensure to read the configuration and relevant port sections of the
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37 online documentation.
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39 http://www.FreeRTOS.org - Documentation, latest information, license and
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42 http://www.SafeRTOS.com - A version that is certified for use in safety
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45 http://www.OpenRTOS.com - Commercial support, development, porting,
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46 licensing and training services.
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50 * This file contains a demo created to execute on the Rowley Associates
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51 * LPC2138 CrossFire development board.
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53 * main() creates all the demo application tasks, then starts the scheduler.
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54 * The WEB documentation provides more details of the standard demo application
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57 * Main.c also creates a task called "Check". This only executes every few
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58 * seconds but has a high priority so is guaranteed to get processor time.
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59 * Its function is to check that all the other tasks are still operational.
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60 * Each standard demo task maintains a unique count that is incremented each
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61 * time the task successfully completes its function. Should any error occur
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62 * within such a task the count is permanently halted. The check task inspects
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63 * the count of each task to ensure it has changed since the last time the
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64 * check task executed. If all the count variables have changed all the tasks
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65 * are still executing error free, and the check task writes "PASS" to the
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66 * CrossStudio terminal IO window. Should any task contain an error at any time
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67 * the error is latched and "FAIL" written to the terminal IO window.
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69 * Finally, main() sets up an interrupt service routine and task to handle
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70 * pushes of the button that is built into the CrossFire board. When the button
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71 * is pushed the ISR wakes the button task - which generates a table of task
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72 * status information which is also displayed on the terminal IO window.
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74 * A print task is defined to ensure exclusive and consistent access to the
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75 * terminal IO. This is the only task that is allowed to access the terminal.
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76 * The check and button task therefore do not access the terminal directly but
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77 * instead pass a pointer to the message they wish to display to the print task.
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80 /* Standard includes. */
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81 #include <__cross_studio_io.h>
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83 /* Scheduler includes. */
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84 #include "FreeRTOS.h"
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89 /* Demo app includes. */
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92 #include "dynamic.h"
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93 #include "integer.h"
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95 #include "blocktim.h"
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96 #include "recmutex.h"
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97 #include "semtest.h"
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99 /* Hardware configuration definitions. */
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100 #define mainBUS_CLK_FULL ( ( unsigned char ) 0x01 )
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101 #define mainLED_BIT 0x80000000
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102 #define mainP0_14__EINT_1 ( 2 << 28 )
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103 #define mainEINT_1_EDGE_SENSITIVE 2
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104 #define mainEINT_1_FALLING_EDGE_SENSITIVE 0
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105 #define mainEINT_1_CHANNEL 15
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106 #define mainEINT_1_VIC_CHANNEL_BIT ( 1 << mainEINT_1_CHANNEL )
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107 #define mainEINT_1_ENABLE_BIT ( 1 << 5 )
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109 /* Demo application definitions. */
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110 #define mainQUEUE_SIZE ( 3 )
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111 #define mainLED_DELAY ( ( portTickType ) 500 / portTICK_RATE_MS )
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112 #define mainERROR_LED_DELAY ( ( portTickType ) 50 / portTICK_RATE_MS )
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113 #define mainCHECK_DELAY ( ( portTickType ) 5000 / portTICK_RATE_MS )
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114 #define mainLIST_BUFFER_SIZE 2048
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115 #define mainNO_DELAY ( 0 )
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116 #define mainSHORT_DELAY ( 150 / portTICK_RATE_MS )
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118 /* Task priorities. */
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119 #define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
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120 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
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121 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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122 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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123 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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124 #define mainPRINT_TASK_PRIORITY ( tskIDLE_PRIORITY + 0 )
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126 /*-----------------------------------------------------------*/
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128 /* The semaphore used to wake the button task from within the external interrupt
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130 xSemaphoreHandle xButtonSemaphore;
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132 /* The queue that is used to send message to vPrintTask for display in the
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133 terminal output window. */
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134 xQueueHandle xPrintQueue;
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136 /* The rate at which the LED will toggle. The toggle rate increases if an
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137 error is detected in any task. */
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138 static portTickType xLED_Delay = mainLED_DELAY;
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139 /*-----------------------------------------------------------*/
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142 * Simply flashes the on board LED every mainLED_DELAY milliseconds.
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144 static void vLEDTask( void *pvParameters );
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147 * Checks the status of all the demo tasks then prints a message to the
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148 * CrossStudio terminal IO windows. The message will be either PASS or FAIL
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149 * depending on the status of the demo applications tasks. A FAIL status will
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152 * Messages are not written directly to the terminal, but passed to vPrintTask
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155 static void vCheckTask( void *pvParameters );
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158 * Controls all terminal output. If a task wants to send a message to the
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159 * terminal IO it posts a pointer to the text to vPrintTask via a queue. This
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160 * ensures serial access to the terminal IO.
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162 static void vPrintTask( void *pvParameter );
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165 * Simply waits for an interrupt to be generated from the built in button, then
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166 * generates a table of tasks states that is then written by vPrintTask to the
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167 * terminal output window within CrossStudio.
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169 static void vButtonHandlerTask( void *pvParameters );
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171 /*-----------------------------------------------------------*/
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175 /* Setup the peripheral bus to be the same as the PLL output. */
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176 VPBDIV = mainBUS_CLK_FULL;
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178 /* Create the queue used to pass message to vPrintTask. */
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179 xPrintQueue = xQueueCreate( mainQUEUE_SIZE, sizeof( char * ) );
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181 /* Create the semaphore used to wake vButtonHandlerTask(). */
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182 vSemaphoreCreateBinary( xButtonSemaphore );
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183 xSemaphoreTake( xButtonSemaphore, 0 );
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185 /* Start the standard demo tasks. */
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186 vStartIntegerMathTasks( tskIDLE_PRIORITY );
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187 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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188 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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189 vStartDynamicPriorityTasks();
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190 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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192 #if configUSE_PREEMPTION == 1
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194 /* The timing of console output when not using the preemptive
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195 scheduler causes the block time tests to detect a timing problem. */
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196 vCreateBlockTimeTasks();
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200 vStartRecursiveMutexTasks();
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202 /* Start the tasks defined within this file. */
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203 xTaskCreate( vLEDTask, ( signed char * ) "LED", configMINIMAL_STACK_SIZE, NULL, mainLED_TASK_PRIORITY, NULL );
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204 xTaskCreate( vCheckTask, ( signed char * ) "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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205 xTaskCreate( vPrintTask, ( signed char * ) "Print", configMINIMAL_STACK_SIZE, NULL, mainPRINT_TASK_PRIORITY, NULL );
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206 xTaskCreate( vButtonHandlerTask, ( signed char * ) "Button", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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208 /* Start the scheduler. */
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209 vTaskStartScheduler();
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211 /* The scheduler should now be running, so we will only ever reach here if we
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212 ran out of heap space. */
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216 /*-----------------------------------------------------------*/
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218 static void vLEDTask( void *pvParameters )
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220 /* Just to remove compiler warnings. */
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221 ( void ) pvParameters;
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223 /* Configure IO. */
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224 IO0DIR |= mainLED_BIT;
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225 IO0SET = mainLED_BIT;
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229 /* Not very exiting - just delay... */
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230 vTaskDelay( xLED_Delay );
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232 /* ...set the IO ... */
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233 IO0CLR = mainLED_BIT;
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235 /* ...delay again... */
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236 vTaskDelay( xLED_Delay );
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238 /* ...then clear the IO. */
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239 IO0SET = mainLED_BIT;
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242 /*-----------------------------------------------------------*/
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244 static void vCheckTask( void *pvParameters )
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246 portBASE_TYPE xErrorOccurred = pdFALSE;
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247 portTickType xLastExecutionTime;
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248 const char * const pcPassMessage = "PASS\n";
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249 const char * const pcFailMessage = "FAIL\n";
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251 /* Just to remove compiler warnings. */
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252 ( void ) pvParameters;
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254 /* Initialise xLastExecutionTime so the first call to vTaskDelayUntil()
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255 works correctly. */
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256 xLastExecutionTime = xTaskGetTickCount();
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260 /* Perform this check every mainCHECK_DELAY milliseconds. */
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261 vTaskDelayUntil( &xLastExecutionTime, mainCHECK_DELAY );
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263 /* Has an error been found in any task? */
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265 if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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267 xErrorOccurred = pdTRUE;
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270 if( xArePollingQueuesStillRunning() != pdTRUE )
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272 xErrorOccurred = pdTRUE;
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275 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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277 xErrorOccurred = pdTRUE;
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280 if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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282 xErrorOccurred = pdTRUE;
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285 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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287 xErrorOccurred = pdTRUE;
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290 #if configUSE_PREEMPTION == 1
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292 /* The timing of console output when not using the preemptive
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293 scheduler causes the block time tests to detect a timing problem. */
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294 if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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296 xErrorOccurred = pdTRUE;
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301 if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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303 xErrorOccurred = pdTRUE;
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306 /* Send either a pass or fail message. If an error is found it is
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307 never cleared again. */
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308 if( xErrorOccurred == pdTRUE )
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310 xLED_Delay = mainERROR_LED_DELAY;
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311 xQueueSend( xPrintQueue, &pcFailMessage, portMAX_DELAY );
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315 xQueueSend( xPrintQueue, &pcPassMessage, portMAX_DELAY );
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319 /*-----------------------------------------------------------*/
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321 static void vPrintTask( void *pvParameters )
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325 /* Just to stop compiler warnings. */
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326 ( void ) pvParameters;
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330 /* Wait for a message to arrive. */
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331 while( xQueueReceive( xPrintQueue, &pcMessage, portMAX_DELAY ) != pdPASS );
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333 /* Write the message to the terminal IO. */
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335 debug_printf( "%s", pcMessage );
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339 /*-----------------------------------------------------------*/
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341 static void vButtonHandlerTask( void *pvParameters )
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343 static signed char cListBuffer[ mainLIST_BUFFER_SIZE ];
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344 const signed char *pcList = &( cListBuffer[ 0 ] );
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345 const char * const pcHeader = "\nTask State Priority Stack #\n************************************************";
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346 extern void (vButtonISRWrapper) ( void );
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348 /* Just to stop compiler warnings. */
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349 ( void ) pvParameters;
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351 /* Configure the interrupt. */
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352 portENTER_CRITICAL();
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354 /* Configure P0.14 to generate interrupts. */
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355 PINSEL0 |= mainP0_14__EINT_1;
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356 EXTMODE = mainEINT_1_EDGE_SENSITIVE;
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357 EXTPOLAR = mainEINT_1_FALLING_EDGE_SENSITIVE;
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359 /* Setup the VIC for EINT 1. */
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360 VICIntSelect &= ~mainEINT_1_VIC_CHANNEL_BIT;
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361 VICIntEnable |= mainEINT_1_VIC_CHANNEL_BIT;
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362 VICVectAddr1 = ( long ) vButtonISRWrapper;
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363 VICVectCntl1 = mainEINT_1_ENABLE_BIT | mainEINT_1_CHANNEL;
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365 portEXIT_CRITICAL();
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369 /* For debouncing, wait a while then clear the semaphore. */
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370 vTaskDelay( mainSHORT_DELAY );
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371 xSemaphoreTake( xButtonSemaphore, mainNO_DELAY );
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373 /* Wait for an interrupt. */
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374 xSemaphoreTake( xButtonSemaphore, portMAX_DELAY );
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376 /* Send the column headers to the print task for display. */
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377 xQueueSend( xPrintQueue, &pcHeader, portMAX_DELAY );
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379 /* Create the list of task states. */
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380 vTaskList( cListBuffer );
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382 /* Send the task status information to the print task for display. */
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383 xQueueSend( xPrintQueue, &pcList, portMAX_DELAY );
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386 /*-----------------------------------------------------------*/
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388 void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed char *pcTaskName )
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390 /* Check pcTaskName for the name of the offending task, or pxCurrentTCB
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391 if pcTaskName has itself been corrupted. */
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393 ( void ) pcTaskName;
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