2 FreeRTOS.org V5.4.0 - Copyright (C) 2003-2009 Richard Barry.
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4 This file is part of the FreeRTOS.org distribution.
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6 FreeRTOS.org is free software; you can redistribute it and/or modify it
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7 under the terms of the GNU General Public License (version 2) as published
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8 by the 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.org without being obliged to provide
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11 the source code for any proprietary components. Alternative commercial
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12 license and support terms are also available upon request. See the
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13 licensing section of http://www.FreeRTOS.org for full details.
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15 FreeRTOS.org is distributed in the hope that it will be useful, but WITHOUT
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16 ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
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17 FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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20 You should have received a copy of the GNU General Public License along
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21 with FreeRTOS.org; if not, write to the Free Software Foundation, Inc., 59
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22 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
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25 ***************************************************************************
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27 * Get the FreeRTOS eBook! See http://www.FreeRTOS.org/Documentation *
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29 * This is a concise, step by step, 'hands on' guide that describes both *
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30 * general multitasking concepts and FreeRTOS specifics. It presents and *
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31 * explains numerous examples that are written using the FreeRTOS API. *
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32 * Full source code for all the examples is provided in an accompanying *
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35 ***************************************************************************
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39 Please ensure to read the configuration and relevant port sections of the
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40 online documentation.
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42 http://www.FreeRTOS.org - Documentation, latest information, license and
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45 http://www.SafeRTOS.com - A version that is certified for use in safety
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48 http://www.OpenRTOS.com - Commercial support, development, porting,
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49 licensing and training services.
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53 * Creates all the demo application tasks and co-routines, then starts the
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56 * Main. c also creates a task called "Print". This only executes every
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57 * five seconds but has the highest priority so is guaranteed to get
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58 * processor time. Its main function is to check that all the other tasks
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59 * are still operational. Nearly all the tasks in the demo application
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60 * maintain a unique count that is incremented each time the task successfully
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61 * completes its function. Should any error occur within the task the count is
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62 * permanently halted. The print task checks the count of each task to ensure
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63 * it has changed since the last time the print task executed. If any count is
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64 * found not to have changed the print task displays an appropriate message.
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65 * If all the tasks are still incrementing their unique counts the print task
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66 * displays an "OK" message.
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68 * The LED flash tasks do not maintain a count as they already provide visual
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69 * feedback of their status.
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71 * The print task blocks on the queue into which messages that require
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72 * displaying are posted. It will therefore only block for the full 5 seconds
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73 * if no messages are posted onto the queue.
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75 * Main. c also provides a demonstration of how the trace visualisation utility
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76 * can be used, and how the scheduler can be stopped.
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78 * \page MainC main.c
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79 * \ingroup DemoFiles
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85 #include "FreeRTOS.h"
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87 #include "croutine.h"
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88 #include "partest.h"
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91 /* Demo file headers. */
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95 #include "crflash.h"
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98 #include "comtest.h"
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100 #include "semtest.h"
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101 #include "integer.h"
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102 #include "dynamic.h"
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103 #include "mevents.h"
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104 #include "crhook.h"
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105 #include "blocktim.h"
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106 #include "AltBlock.h"
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107 #include "GenQTest.h"
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109 #include "countsem.h"
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110 #include "AltQTest.h"
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111 #include "AltPollQ.h"
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112 #include "AltBlckQ.h"
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113 #include "RecMutex.h"
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115 /* Priority definitions for the tasks in the demo application. */
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116 #define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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117 #define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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118 #define mainPRINT_TASK_PRIORITY ( tskIDLE_PRIORITY + 4 )
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119 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
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120 #define mainQUEUE_BLOCK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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121 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
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122 #define mainSEMAPHORE_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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123 #define mainGENERIC_QUEUE_PRIORITY ( tskIDLE_PRIORITY )
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125 #define mainPRINT_STACK_SIZE ( ( unsigned portSHORT ) 512 )
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126 #define mainDEBUG_LOG_BUFFER_SIZE ( ( unsigned portSHORT ) 20480 )
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128 /* The number of flash co-routines to create. */
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129 #define mainNUM_FLASH_CO_ROUTINES ( 8 )
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131 /* Task function for the "Print" task as described at the top of the file. */
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132 static void vErrorChecks( void *pvParameters );
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134 /* Function that checks the unique count of all the other tasks as described at
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135 the top of the file. */
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136 static void prvCheckOtherTasksAreStillRunning( void );
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138 /* Key presses can be used to start/stop the trace visualisation utility or stop
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140 static void prvCheckForKeyPresses( void );
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142 /* Buffer used by the trace visualisation utility so only needed if the trace
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144 #if configUSE_TRACE_FACILITY == 1
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145 static portCHAR pcWriteBuffer[ mainDEBUG_LOG_BUFFER_SIZE ];
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148 /* Constant definition used to turn on/off the pre-emptive scheduler. */
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149 static const portSHORT sUsingPreemption = configUSE_PREEMPTION;
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151 /* Start the math tasks appropriate to the build. The Borland port does
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152 not yet support floating point so uses the integer equivalent. */
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153 static void prvStartMathTasks( void );
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155 /* Check which ever tasks are relevant to this build. */
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156 static portBASE_TYPE prvCheckMathTasksAreStillRunning( void );
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158 /* Used to demonstrate the "task switched in" callback function. */
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159 static portBASE_TYPE prvExampleTaskHook( void * pvParameter );
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161 /* Just used to count the number of times the example task callback function is
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162 called, and the number of times a queue send passes. */
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163 static unsigned portLONG portLONG uxCheckTaskHookCallCount = 0;
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164 static unsigned portLONG portLONG uxQueueSendPassedCount = 0;
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166 /*-----------------------------------------------------------*/
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168 portSHORT main( void )
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170 /* Initialise hardware and utilities. */
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171 vParTestInitialise();
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172 vPrintInitialise();
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174 /* CREATE ALL THE DEMO APPLICATION TASKS. */
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175 prvStartMathTasks();
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176 vStartComTestTasks( mainCOM_TEST_PRIORITY, serCOM1, ser115200 );
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177 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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178 vStartBlockingQueueTasks( mainQUEUE_BLOCK_PRIORITY );
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179 vCreateBlockTimeTasks();
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180 vStartGenericQueueTasks( mainGENERIC_QUEUE_PRIORITY );
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181 vStartSemaphoreTasks( mainSEMAPHORE_TASK_PRIORITY );
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182 vStartDynamicPriorityTasks();
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183 vStartMultiEventTasks();
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184 vStartQueuePeekTasks();
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185 vStartCountingSemaphoreTasks();
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186 vStartAltGenericQueueTasks( mainGENERIC_QUEUE_PRIORITY );
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187 vCreateAltBlockTimeTasks();
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188 vStartAltBlockingQueueTasks( mainQUEUE_BLOCK_PRIORITY );
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189 vStartAltPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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190 vStartRecursiveMutexTasks();
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192 /* Create the "Print" task as described at the top of the file. */
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193 xTaskCreate( vErrorChecks, "Print", mainPRINT_STACK_SIZE, NULL, mainPRINT_TASK_PRIORITY, NULL );
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195 /* This task has to be created last as it keeps account of the number of tasks
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196 it expects to see running. */
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197 vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
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199 /* Create the co-routines that flash the LED's. */
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200 vStartFlashCoRoutines( mainNUM_FLASH_CO_ROUTINES );
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202 /* Create the co-routines that communicate with the tick hook. */
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203 vStartHookCoRoutines();
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205 /* Set the scheduler running. This function will not return unless a task
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206 calls vTaskEndScheduler(). */
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207 vTaskStartScheduler();
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211 /*-----------------------------------------------------------*/
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213 static portBASE_TYPE prvExampleTaskHook( void * pvParameter )
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215 if( pvParameter != ( void * ) 0xabcd )
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217 /* The parameter did not contain the value we expected, so cause an
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218 error to be detected by setting the call count back to zero. */
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219 uxCheckTaskHookCallCount = 0;
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223 /* Simply increment a number so we know the callback has been executed. */
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224 uxCheckTaskHookCallCount++;
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229 /*-----------------------------------------------------------*/
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231 void vMainQueueSendPassed( void )
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233 /* This is just an example implementation of the "queue send" trace hook. */
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234 uxQueueSendPassedCount++;
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236 /*-----------------------------------------------------------*/
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238 static void vErrorChecks( void *pvParameters )
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240 portTickType xExpectedWakeTime;
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241 const portTickType xPrintRate = ( portTickType ) 5000 / portTICK_RATE_MS;
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242 const portLONG lMaxAllowableTimeDifference = ( portLONG ) 0;
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243 portTickType xWakeTime;
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244 portLONG lTimeDifference;
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245 const portCHAR *pcReceivedMessage;
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246 const portCHAR * const pcTaskBlockedTooLongMsg = "Print task blocked too long!\r\n";
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247 const portCHAR * const pcUnexpectedHookValueMsg = "Task hook has unexpected value!\r\n";
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249 ( void ) pvParameters;
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251 /* Register our callback function. */
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252 vTaskSetApplicationTaskTag( NULL, prvExampleTaskHook );
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254 /* Just for test purposes. */
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255 if( xTaskGetApplicationTaskTag( NULL ) != prvExampleTaskHook )
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257 vPrintDisplayMessage( &pcUnexpectedHookValueMsg );
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260 /* Loop continuously, blocking, then checking all the other tasks are still
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261 running, before blocking once again. This task blocks on the queue of
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262 messages that require displaying so will wake either by its time out expiring,
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263 or a message becoming available. */
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266 /* Calculate the time we will unblock if no messages are received
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267 on the queue. This is used to check that we have not blocked for too long. */
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268 xExpectedWakeTime = xTaskGetTickCount();
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269 xExpectedWakeTime += xPrintRate;
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271 /* Block waiting for either a time out or a message to be posted that
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272 required displaying. */
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273 pcReceivedMessage = pcPrintGetNextMessage( xPrintRate );
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275 /* Was a message received? */
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276 if( pcReceivedMessage == NULL )
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278 /* A message was not received so we timed out, did we unblock at the
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280 xWakeTime = xTaskGetTickCount();
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282 /* Calculate the difference between the time we unblocked and the
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283 time we should have unblocked. */
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284 if( xWakeTime > xExpectedWakeTime )
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286 lTimeDifference = ( portLONG ) ( xWakeTime - xExpectedWakeTime );
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290 lTimeDifference = ( portLONG ) ( xExpectedWakeTime - xWakeTime );
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293 if( lTimeDifference > lMaxAllowableTimeDifference )
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295 /* We blocked too long - create a message that will get
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296 printed out the next time around. If we are not using
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297 preemption then we won't expect the timing to be so
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299 if( sUsingPreemption == pdTRUE )
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301 vPrintDisplayMessage( &pcTaskBlockedTooLongMsg );
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305 /* Check the other tasks are still running, just in case. */
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306 prvCheckOtherTasksAreStillRunning();
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310 /* We unblocked due to a message becoming available. Send the message
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312 vDisplayMessage( pcReceivedMessage );
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315 /* Key presses are used to invoke the trace visualisation utility, or end
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317 prvCheckForKeyPresses();
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320 /*-----------------------------------------------------------*/
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322 static void prvCheckForKeyPresses( void )
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326 taskENTER_CRITICAL();
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328 /* kbhit can be used in .exe's that are executed from the command
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329 line, but not if executed through the debugger. */
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334 taskEXIT_CRITICAL();
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338 /* Key presses can be used to start/stop the trace utility, or end the
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343 /* Only define keys for turning on and off the trace if the trace
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345 #if configUSE_TRACE_FACILITY == 1
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346 case 't' : vTaskList( pcWriteBuffer );
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347 vWriteMessageToDisk( pcWriteBuffer );
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349 case 's' : vTaskStartTrace( pcWriteBuffer, mainDEBUG_LOG_BUFFER_SIZE );
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353 unsigned portLONG ulBufferLength;
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354 ulBufferLength = ulTaskEndTrace();
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355 vWriteBufferToDisk( pcWriteBuffer, ulBufferLength );
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360 default : vTaskEndScheduler();
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365 /*-----------------------------------------------------------*/
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367 static void prvCheckOtherTasksAreStillRunning( void )
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369 static portSHORT sErrorHasOccurred = pdFALSE;
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370 static unsigned portLONG portLONG uxLastHookCallCount = 0, uxLastQueueSendCount = 0;
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372 if( prvCheckMathTasksAreStillRunning() != pdTRUE )
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374 vDisplayMessage( "Maths task count unchanged!\r\n" );
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375 sErrorHasOccurred = pdTRUE;
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378 if( xAreComTestTasksStillRunning() != pdTRUE )
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380 vDisplayMessage( "Com test count unchanged!\r\n" );
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381 sErrorHasOccurred = pdTRUE;
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384 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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386 vDisplayMessage( "Blocking queues count unchanged!\r\n" );
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387 sErrorHasOccurred = pdTRUE;
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390 if( xAreAltBlockingQueuesStillRunning() != pdTRUE )
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392 vDisplayMessage( "Alt blocking queues count unchanged!\r\n" );
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393 sErrorHasOccurred = pdTRUE;
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396 if( xArePollingQueuesStillRunning() != pdTRUE )
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398 vDisplayMessage( "Polling queue count unchanged!\r\n" );
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399 sErrorHasOccurred = pdTRUE;
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402 if( xAreAltPollingQueuesStillRunning() != pdTRUE )
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404 vDisplayMessage( "Alt polling queue count unchanged!\r\n" );
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405 sErrorHasOccurred = pdTRUE;
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408 if( xIsCreateTaskStillRunning() != pdTRUE )
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410 vDisplayMessage( "Incorrect number of tasks running!\r\n" );
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411 sErrorHasOccurred = pdTRUE;
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414 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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416 vDisplayMessage( "Semaphore take count unchanged!\r\n" );
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417 sErrorHasOccurred = pdTRUE;
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420 if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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422 vDisplayMessage( "Dynamic priority count unchanged!\r\n" );
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423 sErrorHasOccurred = pdTRUE;
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426 if( xAreMultiEventTasksStillRunning() != pdTRUE )
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428 vDisplayMessage( "Error in multi events tasks!\r\n" );
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429 sErrorHasOccurred = pdTRUE;
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432 if( xAreFlashCoRoutinesStillRunning() != pdTRUE )
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434 vDisplayMessage( "Error in co-routine flash tasks!\r\n" );
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435 sErrorHasOccurred = pdTRUE;
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438 if( xAreHookCoRoutinesStillRunning() != pdTRUE )
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440 vDisplayMessage( "Error in tick hook to co-routine communications!\r\n" );
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441 sErrorHasOccurred = pdTRUE;
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444 if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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446 vDisplayMessage( "Error in block time test tasks!\r\n" );
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447 sErrorHasOccurred = pdTRUE;
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450 if( xAreAltBlockTimeTestTasksStillRunning() != pdTRUE )
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452 vDisplayMessage( "Error in fast block time test tasks!\r\n" );
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453 sErrorHasOccurred = pdTRUE;
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456 if( xAreGenericQueueTasksStillRunning() != pdTRUE )
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458 vDisplayMessage( "Error in generic queue test task!\r\n" );
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459 sErrorHasOccurred = pdTRUE;
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462 if( xAreAltGenericQueueTasksStillRunning() != pdTRUE )
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464 vDisplayMessage( "Error in fast generic queue test task!\r\n" );
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465 sErrorHasOccurred = pdTRUE;
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468 if( xAreQueuePeekTasksStillRunning() != pdTRUE )
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470 vDisplayMessage( "Error in queue peek test task!\r\n" );
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471 sErrorHasOccurred = pdTRUE;
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474 if( xAreCountingSemaphoreTasksStillRunning() != pdTRUE )
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476 vDisplayMessage( "Error in counting semaphore demo task!\r\n" );
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477 sErrorHasOccurred = pdTRUE;
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480 if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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482 vDisplayMessage( "Error in recursive mutex tasks!\r\n" );
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483 sErrorHasOccurred = pdTRUE;
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486 /* The hook function associated with this task is called each time the task
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487 is switched in. We therefore expect the number of times the callback
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488 function has been executed to have increrment since the last time this
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489 function executed. */
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490 if( uxCheckTaskHookCallCount <= uxLastHookCallCount )
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492 vDisplayMessage( "Error in task hook call count!\r\n" );
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493 sErrorHasOccurred = pdTRUE;
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497 uxLastHookCallCount = uxCheckTaskHookCallCount;
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500 /* We would expect some queue sending to occur between calls of this
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502 if( uxQueueSendPassedCount <= uxLastQueueSendCount )
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504 vDisplayMessage( "Error in queue send hook call count!\r\n" );
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505 sErrorHasOccurred = pdTRUE;
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509 uxLastQueueSendCount = uxQueueSendPassedCount;
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512 if( sErrorHasOccurred == pdFALSE )
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514 vDisplayMessage( "OK " );
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517 /*-----------------------------------------------------------*/
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519 static void prvStartMathTasks( void )
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521 #ifdef BCC_INDUSTRIAL_PC_PORT
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522 /* The Borland project does not yet support floating point. */
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523 vStartIntegerMathTasks( tskIDLE_PRIORITY );
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525 vStartMathTasks( tskIDLE_PRIORITY );
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528 /*-----------------------------------------------------------*/
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530 static portBASE_TYPE prvCheckMathTasksAreStillRunning( void )
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532 #ifdef BCC_INDUSTRIAL_PC_PORT
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533 /* The Borland project does not yet support floating point. */
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534 return xAreIntegerMathsTaskStillRunning();
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536 return xAreMathsTaskStillRunning();
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539 /*-----------------------------------------------------------*/
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541 void vApplicationIdleHook( void )
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543 /* The co-routines are executed in the idle task using the idle task
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545 vCoRoutineSchedule();
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547 /*-----------------------------------------------------------*/
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