2 FreeRTOS.org V4.3.1 - 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 * Creates all the demo application tasks, then starts the scheduler.
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39 * Main. c also creates a task called "Print". This only executes every five
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40 * seconds but has the highest priority so is guaranteed to get processor time.
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41 * Its main function is to check that all the other tasks are still operational.
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42 * Nearly all the tasks in the demo application maintain a unique count that is
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43 * incremented each time the task successfully completes its function. Should any
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44 * error occur within the task the count is permanently halted. The print task
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45 * checks the count of each task to ensure it has changed since the last time the
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46 * print task executed. If any count is found not to have changed the print task
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47 * displays an appropriate message, halts, and flashes the on board LED rapidly.
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48 * If all the tasks are still incrementing their unique counts the print task
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49 * displays an "OK" message.
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51 * The LED flash tasks do not maintain a count as they already provide visual
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52 * feedback of their status.
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54 * The print task blocks on the queue into which messages that require displaying
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55 * are posted. It will therefore only block for the full 5 seconds if no messages
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56 * are posted onto the queue.
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58 * Main. c also provides a demonstration of how the trace visualisation utility can
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59 * be used, and how the scheduler can be stopped.
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61 * On the Flashlite it is preferable not to try to write to the console during
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62 * real time operation. The built in LED is toggled every cycle of the print task
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63 * that does not encounter any errors, so the console IO may be removed if required.
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64 * The build in LED will start flashing rapidly if any task reports an error.
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70 + Previously, if an error occurred in a task the on board LED was stopped from
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71 toggling. Now if an error occurs the check task enters an infinite loop,
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72 toggling the LED rapidly.
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76 + The integer and comtest tasks are now used when the cooperative scheduler
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77 is being used. Previously they were only used with the preemptive
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82 + Made the communications RX task a higher priority.
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86 + Delay periods are now specified using variables and constants of
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87 portTickType rather than unsigned portLONG.
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92 #include "FreeRTOS.h"
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94 #include "partest.h"
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97 /* Demo file headers. */
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102 #include "integer.h"
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104 #include "comtest.h"
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105 #include "fileio.h"
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106 #include "semtest.h"
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108 /* Priority definitions for all the tasks in the demo application. */
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109 #define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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110 #define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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111 #define mainPRINT_TASK_PRIORITY ( tskIDLE_PRIORITY + 5 )
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112 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
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113 #define mainQUEUE_BLOCK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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114 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 3 )
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115 #define mainSEMAPHORE_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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117 #define mainPRINT_STACK_SIZE ( ( unsigned portSHORT ) 256 )
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118 #define mainDEBUG_LOG_BUFFER_SIZE ( ( unsigned portSHORT ) 20480 )
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120 /* Constant definitions for accessing the build in LED on the Flashlite 186. */
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121 #define mainLED_REG_DIR ( ( unsigned portSHORT ) 0xff78 )
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122 #define mainLED_REG ( ( unsigned portSHORT ) 0xff7a )
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124 /* If an error is detected in a task then the vErrorChecks() task will enter
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125 an infinite loop flashing the LED at this rate. */
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126 #define mainERROR_FLASH_RATE ( ( portTickType ) 100 / portTICK_RATE_MS )
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128 /* Task function for the "Print" task as described at the top of the file. */
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129 static void vErrorChecks( void *pvParameters );
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131 /* Function that checks the unique count of all the other tasks as described at
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132 the top of the file. */
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133 static void prvCheckOtherTasksAreStillRunning( void );
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135 /* Functions to setup and use the built in LED on the Flashlite 186 board. */
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136 static void prvToggleLED( void );
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137 static void prvInitLED( void );
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139 /* Key presses can be used to start/stop the trace visualisation utility or stop
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141 static void prvCheckForKeyPresses( void );
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143 /* Buffer used by the trace visualisation utility. */
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144 static portCHAR pcWriteBuffer[ mainDEBUG_LOG_BUFFER_SIZE ];
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146 /*-----------------------------------------------------------*/
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147 portSHORT main( void )
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149 /* Initialise hardware and utilities. */
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150 vParTestInitialise();
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151 vPrintInitialise();
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154 /* CREATE ALL THE DEMO APPLICATION TASKS. */
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156 vStartComTestTasks( mainCOM_TEST_PRIORITY, serCOM2, ser38400 );
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157 vStartIntegerMathTasks( tskIDLE_PRIORITY );
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158 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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159 vStartBlockingQueueTasks( mainQUEUE_BLOCK_PRIORITY );
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160 vStartLEDFlashTasks( mainLED_TASK_PRIORITY );
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161 vStartSemaphoreTasks( mainSEMAPHORE_TASK_PRIORITY );
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163 /* Create the "Print" task as described at the top of the file. */
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164 xTaskCreate( vErrorChecks, "Print", mainPRINT_STACK_SIZE, NULL, mainPRINT_TASK_PRIORITY, NULL );
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166 /* This task has to be created last as it keeps account of the number of tasks
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167 it expects to see running. */
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168 vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
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170 /* Set the scheduler running. This function will not return unless a task
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171 calls vTaskEndScheduler(). */
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172 vTaskStartScheduler();
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176 /*-----------------------------------------------------------*/
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178 static void vErrorChecks( void *pvParameters )
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180 portTickType xExpectedWakeTime;
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181 const portTickType xPrintRate = ( portTickType ) 5000 / portTICK_RATE_MS;
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182 const portLONG lMaxAllowableTimeDifference = ( portLONG ) 0;
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183 portTickType xWakeTime;
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184 portLONG lTimeDifference;
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185 const portCHAR *pcReceivedMessage;
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186 const portCHAR * const pcTaskBlockedTooLongMsg = "Print task blocked too long!\r\n";
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188 /* Stop warnings. */
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189 ( void ) pvParameters;
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191 /* Loop continuously, blocking, then checking all the other tasks are still
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192 running, before blocking once again. This task blocks on the queue of messages
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193 that require displaying so will wake either by its time out expiring, or a
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194 message becoming available. */
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197 /* Calculate the time we will unblock if no messages are received
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198 on the queue. This is used to check that we have not blocked for too long. */
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199 xExpectedWakeTime = xTaskGetTickCount();
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200 xExpectedWakeTime += xPrintRate;
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202 /* Block waiting for either a time out or a message to be posted that
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203 required displaying. */
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204 pcReceivedMessage = pcPrintGetNextMessage( xPrintRate );
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206 /* Was a message received? */
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207 if( pcReceivedMessage == NULL )
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209 /* A message was not received so we timed out, did we unblock at the
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211 xWakeTime = xTaskGetTickCount();
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213 /* Calculate the difference between the time we unblocked and the
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214 time we should have unblocked. */
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215 if( xWakeTime > xExpectedWakeTime )
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217 lTimeDifference = ( portLONG ) ( xWakeTime - xExpectedWakeTime );
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221 lTimeDifference = ( portLONG ) ( xExpectedWakeTime - xWakeTime );
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224 if( lTimeDifference > lMaxAllowableTimeDifference )
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226 /* We blocked too long - create a message that will get
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227 printed out the next time around. */
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228 vPrintDisplayMessage( &pcTaskBlockedTooLongMsg );
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231 /* Check the other tasks are still running, just in case. */
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232 prvCheckOtherTasksAreStillRunning();
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236 /* We unblocked due to a message becoming available. Send the message
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238 vDisplayMessage( pcReceivedMessage );
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241 /* Key presses are used to invoke the trace visualisation utility, or
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242 end the program. */
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243 prvCheckForKeyPresses();
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245 } /*lint !e715 !e818 pvParameters is not used but all task functions must take this form. */
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246 /*-----------------------------------------------------------*/
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248 static void prvCheckForKeyPresses( void )
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255 taskENTER_CRITICAL();
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257 taskEXIT_CRITICAL();
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261 unsigned portLONG ulBufferLength;
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263 /* Key presses can be used to start/stop the trace utility, or end the
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268 /* Only define keys for turning on and off the trace if the trace
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270 #if configUSE_TRACE_FACILITY == 1
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271 case 't' : vTaskList( pcWriteBuffer );
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272 vWriteMessageToDisk( pcWriteBuffer );
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275 case 's' : vTaskStartTrace( pcWriteBuffer, mainDEBUG_LOG_BUFFER_SIZE );
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278 case 'e' : ulBufferLength = ulTaskEndTrace();
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279 vWriteBufferToDisk( pcWriteBuffer, ulBufferLength );
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283 default : vTaskEndScheduler();
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289 ( void ) pcWriteBuffer;
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292 /*-----------------------------------------------------------*/
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294 static void prvCheckOtherTasksAreStillRunning( void )
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296 portSHORT sErrorHasOccurred = pdFALSE;
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298 if( xAreComTestTasksStillRunning() != pdTRUE )
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300 vDisplayMessage( "Com test count unchanged!\r\n" );
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301 sErrorHasOccurred = pdTRUE;
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304 if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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306 vDisplayMessage( "Integer maths task count unchanged!\r\n" );
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307 sErrorHasOccurred = pdTRUE;
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310 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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312 vDisplayMessage( "Blocking queues count unchanged!\r\n" );
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313 sErrorHasOccurred = pdTRUE;
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316 if( xArePollingQueuesStillRunning() != pdTRUE )
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318 vDisplayMessage( "Polling queue count unchanged!\r\n" );
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319 sErrorHasOccurred = pdTRUE;
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322 if( xIsCreateTaskStillRunning() != pdTRUE )
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324 vDisplayMessage( "Incorrect number of tasks running!\r\n" );
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325 sErrorHasOccurred = pdTRUE;
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328 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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330 vDisplayMessage( "Semaphore take count unchanged!\r\n" );
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331 sErrorHasOccurred = pdTRUE;
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334 if( sErrorHasOccurred == pdFALSE )
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336 vDisplayMessage( "OK " );
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337 /* Toggle the LED if everything is okay so we know if an error occurs even if not
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338 using console IO. */
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345 /* An error has occurred in one of the tasks. Don't go any further and
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346 flash the LED rapidly in case console IO is not being used. */
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348 vTaskDelay( mainERROR_FLASH_RATE );
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352 /*-----------------------------------------------------------*/
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354 static void prvInitLED( void )
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356 unsigned portSHORT usPortDirection;
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357 const unsigned portSHORT usLEDOut = 0x400;
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359 /* Set the LED bit to an output. */
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361 usPortDirection = inpw( mainLED_REG_DIR );
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362 usPortDirection &= ~usLEDOut;
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363 outpw( mainLED_REG_DIR, usPortDirection );
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365 /*-----------------------------------------------------------*/
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367 static void prvToggleLED( void )
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369 static portSHORT sLED = pdTRUE;
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370 unsigned portSHORT usLEDState;
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371 const unsigned portSHORT usLEDBit = 0x400;
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373 /* Flip the state of the LED. */
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374 usLEDState = inpw( mainLED_REG );
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377 usLEDState &= ~usLEDBit;
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381 usLEDState |= usLEDBit;
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383 outpw( mainLED_REG, usLEDState );
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