2 FreeRTOS.org V4.6.0 - 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 for an IEC 61508 compliant version along
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32 with commercial development and support options.
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33 ***************************************************************************
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37 * This file contains a demo created to execute on the Rowley Associates
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38 * LPC2138 CrossFire development board.
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40 * main() creates all the demo application tasks, then starts the scheduler.
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41 * The WEB documentation provides more details of the standard demo application
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44 * Main.c also creates a task called "Check". This only executes every few
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45 * seconds but has a high priority so is guaranteed to get processor time.
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46 * Its function is to check that all the other tasks are still operational.
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47 * Each standard demo task maintains a unique count that is incremented each
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48 * time the task successfully completes its function. Should any error occur
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49 * within such a task the count is permanently halted. The check task inspects
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50 * the count of each task to ensure it has changed since the last time the
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51 * check task executed. If all the count variables have changed all the tasks
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52 * are still executing error free, and the check task writes "PASS" to the
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53 * CrossStudio terminal IO window. Should any task contain an error at any time
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54 * the error is latched and "FAIL" written to the terminal IO window.
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56 * Finally, main() sets up an interrupt service routine and task to handle
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57 * pushes of the button that is built into the CrossFire board. When the button
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58 * is pushed the ISR wakes the button task - which generates a table of task
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59 * status information which is also displayed on the terminal IO window.
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61 * A print task is defined to ensure exclusive and consistent access to the
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62 * terminal IO. This is the only task that is allowed to access the terminal.
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63 * The check and button task therefore do not access the terminal directly but
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64 * instead pass a pointer to the message they wish to display to the print task.
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67 /* Standard includes. */
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68 #include <__cross_studio_io.h>
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70 /* Scheduler includes. */
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71 #include "FreeRTOS.h"
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76 /* Demo app includes. */
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79 #include "dynamic.h"
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80 #include "integer.h"
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82 #include "blocktim.h"
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84 /* Hardware configuration definitions. */
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85 #define mainBUS_CLK_FULL ( ( unsigned portCHAR ) 0x01 )
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86 #define mainLED_BIT 0x80000000
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87 #define mainP0_14__EINT_1 ( 2 << 28 )
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88 #define mainEINT_1_EDGE_SENSITIVE 2
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89 #define mainEINT_1_FALLING_EDGE_SENSITIVE 0
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90 #define mainEINT_1_CHANNEL 15
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91 #define mainEINT_1_VIC_CHANNEL_BIT ( 1 << mainEINT_1_CHANNEL )
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92 #define mainEINT_1_ENABLE_BIT ( 1 << 5 )
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94 /* Demo application definitions. */
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95 #define mainQUEUE_SIZE ( 3 )
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96 #define mainLED_DELAY ( ( portTickType ) 500 / portTICK_RATE_MS )
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97 #define mainCHECK_DELAY ( ( portTickType ) 5000 / portTICK_RATE_MS )
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98 #define mainLIST_BUFFER_SIZE 2048
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99 #define mainNO_DELAY ( 0 )
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100 #define mainSHORT_DELAY ( 150 / portTICK_RATE_MS )
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102 /* Task priorities. */
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103 #define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
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104 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
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105 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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106 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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107 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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108 #define mainPRINT_TASK_PRIORITY ( tskIDLE_PRIORITY + 0 )
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110 /*-----------------------------------------------------------*/
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112 /* The semaphore used to wake the button task from within the external interrupt
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114 xSemaphoreHandle xButtonSemaphore;
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116 /* The queue that is used to send message to vPrintTask for display in the
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117 terminal output window. */
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118 xQueueHandle xPrintQueue;
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120 /*-----------------------------------------------------------*/
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123 * Simply flashes the on board LED every mainLED_DELAY milliseconds.
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125 static void vLEDTask( void *pvParameters );
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128 * Checks the status of all the demo tasks then prints a message to the
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129 * CrossStudio terminal IO windows. The message will be either PASS or FAIL
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130 * depending on the status of the demo applications tasks. A FAIL status will
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133 * Messages are not written directly to the terminal, but passed to vPrintTask
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136 static void vCheckTask( void *pvParameters );
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139 * Controls all terminal output. If a task wants to send a message to the
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140 * terminal IO it posts a pointer to the text to vPrintTask via a queue. This
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141 * ensures serial access to the terminal IO.
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143 static void vPrintTask( void *pvParameter );
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146 * Simply waits for an interrupt to be generated from the built in button, then
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147 * generates a table of tasks states that is then written by vPrintTask to the
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148 * terminal output window within CrossStudio.
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150 static void vButtonHandlerTask( void *pvParameters );
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152 /*-----------------------------------------------------------*/
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156 /* Setup the peripheral bus to be the same as the PLL output. */
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157 VPBDIV = mainBUS_CLK_FULL;
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159 /* Create the queue used to pass message to vPrintTask. */
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160 xPrintQueue = xQueueCreate( mainQUEUE_SIZE, sizeof( portCHAR * ) );
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162 /* Create the semaphore used to wake vButtonHandlerTask(). */
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163 vSemaphoreCreateBinary( xButtonSemaphore );
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164 xSemaphoreTake( xButtonSemaphore, 0 );
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166 /* Start the standard demo tasks. */
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167 vStartIntegerMathTasks( tskIDLE_PRIORITY );
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168 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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169 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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170 vStartDynamicPriorityTasks();
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171 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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172 vCreateBlockTimeTasks();
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174 /* Start the tasks defined within this file. */
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175 xTaskCreate( vLEDTask, "LED", configMINIMAL_STACK_SIZE, NULL, mainLED_TASK_PRIORITY, NULL );
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176 xTaskCreate( vCheckTask, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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177 xTaskCreate( vPrintTask, "Print", configMINIMAL_STACK_SIZE, NULL, mainPRINT_TASK_PRIORITY, NULL );
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178 xTaskCreate( vButtonHandlerTask, "Button", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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180 /* Start the scheduler. */
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181 vTaskStartScheduler();
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183 /* The scheduler should now be running, so we will only ever reach here if we
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184 ran out of heap space. */
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188 /*-----------------------------------------------------------*/
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190 static void vLEDTask( void *pvParameters )
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192 /* Configure IO. */
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193 IO0DIR |= mainLED_BIT;
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194 IO0SET = mainLED_BIT;
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198 /* Not very exiting - just delay... */
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199 vTaskDelay( mainLED_DELAY );
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201 /* ...set the IO ... */
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202 IO0CLR = mainLED_BIT;
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204 /* ...delay again... */
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205 vTaskDelay( mainLED_DELAY );
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207 /* ...then clear the IO. */
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208 IO0SET = mainLED_BIT;
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211 /*-----------------------------------------------------------*/
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213 static void vCheckTask( void *pvParameters )
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215 portBASE_TYPE xErrorOccurred = pdFALSE;
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216 portTickType xLastExecutionTime;
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217 const portCHAR * const pcPassMessage = "PASS\n";
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218 const portCHAR * const pcFailMessage = "FAIL\n";
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220 /* Initialise xLastExecutionTime so the first call to vTaskDelayUntil()
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221 works correctly. */
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222 xLastExecutionTime = xTaskGetTickCount();
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226 /* Perform this check every mainCHECK_DELAY milliseconds. */
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227 vTaskDelayUntil( &xLastExecutionTime, mainCHECK_DELAY );
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229 /* Has an error been found in any task? */
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231 if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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233 xErrorOccurred = pdTRUE;
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236 if( xArePollingQueuesStillRunning() != pdTRUE )
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238 xErrorOccurred = pdTRUE;
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241 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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243 xErrorOccurred = pdTRUE;
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246 if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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248 xErrorOccurred = pdTRUE;
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251 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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253 xErrorOccurred = pdTRUE;
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256 if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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258 xErrorOccurred = pdTRUE;
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261 /* Send either a pass or fail message. If an error is found it is
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262 never cleared again. */
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263 if( xErrorOccurred == pdTRUE )
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265 xQueueSend( xPrintQueue, &pcFailMessage, portMAX_DELAY );
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269 xQueueSend( xPrintQueue, &pcPassMessage, portMAX_DELAY );
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273 /*-----------------------------------------------------------*/
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275 static void vPrintTask( void *pvParameters )
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277 portCHAR *pcMessage;
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281 /* Wait for a message to arrive. */
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282 while( xQueueReceive( xPrintQueue, &pcMessage, portMAX_DELAY ) != pdPASS );
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284 /* Write the message to the terminal IO. */
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285 debug_printf( "%s", pcMessage );
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288 /*-----------------------------------------------------------*/
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290 static void vButtonHandlerTask( void *pvParameters )
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292 static portCHAR cListBuffer[ mainLIST_BUFFER_SIZE ];
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293 const portCHAR *pcList = &( cListBuffer[ 0 ] );
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294 const portCHAR * const pcHeader = "\nTask State Priority Stack #\n************************************************";
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295 extern void (vButtonISRWrapper) ( void );
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297 /* Configure the interrupt. */
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298 portENTER_CRITICAL();
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300 /* Configure P0.14 to generate interrupts. */
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301 PINSEL0 |= mainP0_14__EINT_1;
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302 EXTMODE = mainEINT_1_EDGE_SENSITIVE;
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303 EXTPOLAR = mainEINT_1_FALLING_EDGE_SENSITIVE;
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305 /* Setup the VIC for EINT 1. */
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306 VICIntSelect &= ~mainEINT_1_VIC_CHANNEL_BIT;
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307 VICIntEnable |= mainEINT_1_VIC_CHANNEL_BIT;
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308 VICVectAddr1 = ( portLONG ) vButtonISRWrapper;
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309 VICVectCntl1 = mainEINT_1_ENABLE_BIT | mainEINT_1_CHANNEL;
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311 portEXIT_CRITICAL();
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315 /* For debouncing, wait a while then clear the semaphore. */
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316 vTaskDelay( mainSHORT_DELAY );
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317 xSemaphoreTake( xButtonSemaphore, mainNO_DELAY );
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319 /* Wait for an interrupt. */
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320 xSemaphoreTake( xButtonSemaphore, portMAX_DELAY );
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322 /* Send the column headers to the print task for display. */
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323 xQueueSend( xPrintQueue, &pcHeader, portMAX_DELAY );
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325 /* Create the list of task states. */
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326 vTaskList( cListBuffer );
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328 /* Send the task status information to the print task for display. */
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329 xQueueSend( xPrintQueue, &pcList, portMAX_DELAY );
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332 /*-----------------------------------------------------------*/
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