2 FreeRTOS.org V4.7.2 - Copyright (C) 2003-2008 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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28 Please ensure to read the configuration and relevant port sections of the
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29 online documentation.
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31 +++ http://www.FreeRTOS.org +++
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32 Documentation, latest information, license and contact details.
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34 +++ http://www.SafeRTOS.com +++
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35 A version that is certified for use in safety critical systems.
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37 +++ http://www.OpenRTOS.com +++
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38 Commercial support, development, porting, licensing and training services.
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40 ***************************************************************************
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44 * Creates all the demo application tasks and co-routines, then starts the
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47 * Main. c also creates a task called "Print". This only executes every
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48 * five seconds but has the highest priority so is guaranteed to get
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49 * processor time. Its main function is to check that all the other tasks
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50 * are still operational. Nearly all the tasks in the demo application
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51 * maintain a unique count that is incremented each time the task successfully
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52 * completes its function. Should any error occur within the task the count is
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53 * permanently halted. The print task checks the count of each task to ensure
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54 * it has changed since the last time the print task executed. If any count is
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55 * found not to have changed the print task displays an appropriate message.
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56 * If all the tasks are still incrementing their unique counts the print task
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57 * displays an "OK" message.
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59 * The LED flash tasks do not maintain a count as they already provide visual
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60 * feedback of their status.
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62 * The print task blocks on the queue into which messages that require
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63 * displaying are posted. It will therefore only block for the full 5 seconds
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64 * if no messages are posted onto the queue.
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66 * Main. c also provides a demonstration of how the trace visualisation utility
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67 * can be used, and how the scheduler can be stopped.
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69 * \page MainC main.c
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70 * \ingroup DemoFiles
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76 #include "FreeRTOS.h"
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78 #include "croutine.h"
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79 #include "partest.h"
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82 /* Demo file headers. */
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86 #include "crflash.h"
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89 #include "comtest.h"
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91 #include "semtest.h"
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92 #include "integer.h"
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93 #include "dynamic.h"
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94 #include "mevents.h"
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96 #include "blocktim.h"
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97 #include "AltBlock.h"
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98 #include "GenQTest.h"
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100 #include "countsem.h"
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101 #include "AltQTest.h"
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102 #include "AltPollQ.h"
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103 #include "AltBlckQ.h"
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104 #include "RecMutex.h"
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106 /* Priority definitions for the tasks in the demo application. */
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107 #define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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108 #define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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109 #define mainPRINT_TASK_PRIORITY ( tskIDLE_PRIORITY + 4 )
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110 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
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111 #define mainQUEUE_BLOCK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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112 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
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113 #define mainSEMAPHORE_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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114 #define mainGENERIC_QUEUE_PRIORITY ( tskIDLE_PRIORITY )
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116 #define mainPRINT_STACK_SIZE ( ( unsigned portSHORT ) 512 )
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117 #define mainDEBUG_LOG_BUFFER_SIZE ( ( unsigned portSHORT ) 20480 )
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119 /* The number of flash co-routines to create. */
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120 #define mainNUM_FLASH_CO_ROUTINES ( 8 )
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122 /* Task function for the "Print" task as described at the top of the file. */
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123 static void vErrorChecks( void *pvParameters );
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125 /* Function that checks the unique count of all the other tasks as described at
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126 the top of the file. */
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127 static void prvCheckOtherTasksAreStillRunning( void );
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129 /* Key presses can be used to start/stop the trace visualisation utility or stop
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131 static void prvCheckForKeyPresses( void );
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133 /* Buffer used by the trace visualisation utility so only needed if the trace
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135 #if configUSE_TRACE_FACILITY == 1
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136 static portCHAR pcWriteBuffer[ mainDEBUG_LOG_BUFFER_SIZE ];
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139 /* Constant definition used to turn on/off the pre-emptive scheduler. */
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140 static const portSHORT sUsingPreemption = configUSE_PREEMPTION;
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142 /* Start the math tasks appropriate to the build. The Borland port does
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143 not yet support floating point so uses the integer equivalent. */
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144 static void prvStartMathTasks( void );
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146 /* Check which ever tasks are relevant to this build. */
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147 static portBASE_TYPE prvCheckMathTasksAreStillRunning( void );
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149 /*-----------------------------------------------------------*/
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151 portSHORT main( void )
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153 /* Initialise hardware and utilities. */
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154 vParTestInitialise();
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155 vPrintInitialise();
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157 /* CREATE ALL THE DEMO APPLICATION TASKS. */
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158 prvStartMathTasks();
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159 vStartComTestTasks( mainCOM_TEST_PRIORITY, serCOM1, ser115200 );
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160 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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161 vStartBlockingQueueTasks( mainQUEUE_BLOCK_PRIORITY );
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162 vCreateBlockTimeTasks();
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163 vStartGenericQueueTasks( mainGENERIC_QUEUE_PRIORITY );
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164 vStartSemaphoreTasks( mainSEMAPHORE_TASK_PRIORITY );
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165 vStartDynamicPriorityTasks();
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166 vStartMultiEventTasks();
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167 vStartQueuePeekTasks();
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168 vStartCountingSemaphoreTasks();
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169 vStartAltGenericQueueTasks( mainGENERIC_QUEUE_PRIORITY );
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170 vCreateAltBlockTimeTasks();
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171 vStartAltBlockingQueueTasks( mainQUEUE_BLOCK_PRIORITY );
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172 vStartAltPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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173 vStartRecursiveMutexTasks();
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175 /* Create the "Print" task as described at the top of the file. */
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176 xTaskCreate( vErrorChecks, "Print", mainPRINT_STACK_SIZE, NULL, mainPRINT_TASK_PRIORITY, NULL );
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178 /* This task has to be created last as it keeps account of the number of tasks
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179 it expects to see running. */
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180 vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
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182 /* Create the co-routines that flash the LED's. */
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183 vStartFlashCoRoutines( mainNUM_FLASH_CO_ROUTINES );
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185 /* Create the co-routines that communicate with the tick hook. */
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186 vStartHookCoRoutines();
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188 /* Set the scheduler running. This function will not return unless a task
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189 calls vTaskEndScheduler(). */
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190 vTaskStartScheduler();
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194 /*-----------------------------------------------------------*/
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196 static void vErrorChecks( void *pvParameters )
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198 portTickType xExpectedWakeTime;
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199 const portTickType xPrintRate = ( portTickType ) 5000 / portTICK_RATE_MS;
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200 const portLONG lMaxAllowableTimeDifference = ( portLONG ) 0;
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201 portTickType xWakeTime;
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202 portLONG lTimeDifference;
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203 const portCHAR *pcReceivedMessage;
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204 const portCHAR * const pcTaskBlockedTooLongMsg = "Print task blocked too long!\r\n";
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206 ( void ) pvParameters;
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208 /* Loop continuously, blocking, then checking all the other tasks are still
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209 running, before blocking once again. This task blocks on the queue of
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210 messages that require displaying so will wake either by its time out expiring,
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211 or a message becoming available. */
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214 /* Calculate the time we will unblock if no messages are received
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215 on the queue. This is used to check that we have not blocked for too long. */
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216 xExpectedWakeTime = xTaskGetTickCount();
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217 xExpectedWakeTime += xPrintRate;
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219 /* Block waiting for either a time out or a message to be posted that
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220 required displaying. */
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221 pcReceivedMessage = pcPrintGetNextMessage( xPrintRate );
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223 /* Was a message received? */
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224 if( pcReceivedMessage == NULL )
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226 /* A message was not received so we timed out, did we unblock at the
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228 xWakeTime = xTaskGetTickCount();
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230 /* Calculate the difference between the time we unblocked and the
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231 time we should have unblocked. */
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232 if( xWakeTime > xExpectedWakeTime )
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234 lTimeDifference = ( portLONG ) ( xWakeTime - xExpectedWakeTime );
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238 lTimeDifference = ( portLONG ) ( xExpectedWakeTime - xWakeTime );
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241 if( lTimeDifference > lMaxAllowableTimeDifference )
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243 /* We blocked too long - create a message that will get
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244 printed out the next time around. If we are not using
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245 preemption then we won't expect the timing to be so
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247 if( sUsingPreemption == pdTRUE )
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249 vPrintDisplayMessage( &pcTaskBlockedTooLongMsg );
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253 /* Check the other tasks are still running, just in case. */
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254 prvCheckOtherTasksAreStillRunning();
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258 /* We unblocked due to a message becoming available. Send the message
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260 vDisplayMessage( pcReceivedMessage );
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263 /* Key presses are used to invoke the trace visualisation utility, or end
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265 prvCheckForKeyPresses();
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268 /*-----------------------------------------------------------*/
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270 static void prvCheckForKeyPresses( void )
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274 taskENTER_CRITICAL();
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276 /* kbhit can be used in .exe's that are executed from the command
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277 line, but not if executed through the debugger. */
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282 taskEXIT_CRITICAL();
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286 /* Key presses can be used to start/stop the trace utility, or end the
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291 /* Only define keys for turning on and off the trace if the trace
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293 #if configUSE_TRACE_FACILITY == 1
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294 case 't' : vTaskList( pcWriteBuffer );
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295 vWriteMessageToDisk( pcWriteBuffer );
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297 case 's' : vTaskStartTrace( pcWriteBuffer, mainDEBUG_LOG_BUFFER_SIZE );
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301 unsigned portLONG ulBufferLength;
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302 ulBufferLength = ulTaskEndTrace();
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303 vWriteBufferToDisk( pcWriteBuffer, ulBufferLength );
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308 default : vTaskEndScheduler();
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313 /*-----------------------------------------------------------*/
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315 static void prvCheckOtherTasksAreStillRunning( void )
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317 static portSHORT sErrorHasOccurred = pdFALSE;
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319 if( prvCheckMathTasksAreStillRunning() != pdTRUE )
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321 vDisplayMessage( "Maths task count unchanged!\r\n" );
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322 sErrorHasOccurred = pdTRUE;
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325 if( xAreComTestTasksStillRunning() != pdTRUE )
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327 vDisplayMessage( "Com test count unchanged!\r\n" );
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328 sErrorHasOccurred = pdTRUE;
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331 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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333 vDisplayMessage( "Blocking queues count unchanged!\r\n" );
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334 sErrorHasOccurred = pdTRUE;
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337 if( xAreAltBlockingQueuesStillRunning() != pdTRUE )
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339 vDisplayMessage( "Alt blocking queues count unchanged!\r\n" );
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340 sErrorHasOccurred = pdTRUE;
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343 if( xArePollingQueuesStillRunning() != pdTRUE )
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345 vDisplayMessage( "Polling queue count unchanged!\r\n" );
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346 sErrorHasOccurred = pdTRUE;
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349 if( xAreAltPollingQueuesStillRunning() != pdTRUE )
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351 vDisplayMessage( "Alt polling queue count unchanged!\r\n" );
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352 sErrorHasOccurred = pdTRUE;
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355 if( xIsCreateTaskStillRunning() != pdTRUE )
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357 vDisplayMessage( "Incorrect number of tasks running!\r\n" );
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358 sErrorHasOccurred = pdTRUE;
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361 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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363 vDisplayMessage( "Semaphore take count unchanged!\r\n" );
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364 sErrorHasOccurred = pdTRUE;
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367 if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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369 vDisplayMessage( "Dynamic priority count unchanged!\r\n" );
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370 sErrorHasOccurred = pdTRUE;
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373 if( xAreMultiEventTasksStillRunning() != pdTRUE )
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375 vDisplayMessage( "Error in multi events tasks!\r\n" );
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376 sErrorHasOccurred = pdTRUE;
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379 if( xAreFlashCoRoutinesStillRunning() != pdTRUE )
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381 vDisplayMessage( "Error in co-routine flash tasks!\r\n" );
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382 sErrorHasOccurred = pdTRUE;
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385 if( xAreHookCoRoutinesStillRunning() != pdTRUE )
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387 vDisplayMessage( "Error in tick hook to co-routine communications!\r\n" );
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388 sErrorHasOccurred = pdTRUE;
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391 if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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393 vDisplayMessage( "Error in block time test tasks!\r\n" );
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394 sErrorHasOccurred = pdTRUE;
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397 if( xAreAltBlockTimeTestTasksStillRunning() != pdTRUE )
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399 vDisplayMessage( "Error in fast block time test tasks!\r\n" );
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400 sErrorHasOccurred = pdTRUE;
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403 if( xAreGenericQueueTasksStillRunning() != pdTRUE )
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405 vDisplayMessage( "Error in generic queue test task!\r\n" );
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406 sErrorHasOccurred = pdTRUE;
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409 if( xAreAltGenericQueueTasksStillRunning() != pdTRUE )
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411 vDisplayMessage( "Error in fast generic queue test task!\r\n" );
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412 sErrorHasOccurred = pdTRUE;
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415 if( xAreQueuePeekTasksStillRunning() != pdTRUE )
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417 vDisplayMessage( "Error in queue peek test task!\r\n" );
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418 sErrorHasOccurred = pdTRUE;
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421 if( xAreCountingSemaphoreTasksStillRunning() != pdTRUE )
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423 vDisplayMessage( "Error in counting semaphore demo task!\r\n" );
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424 sErrorHasOccurred = pdTRUE;
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427 if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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429 vDisplayMessage( "Error in recursive mutex tasks!\r\n" );
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430 sErrorHasOccurred = pdTRUE;
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433 if( sErrorHasOccurred == pdFALSE )
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435 vDisplayMessage( "OK " );
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438 /*-----------------------------------------------------------*/
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440 static void prvStartMathTasks( void )
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442 #ifdef BCC_INDUSTRIAL_PC_PORT
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443 /* The Borland project does not yet support floating point. */
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444 vStartIntegerMathTasks( tskIDLE_PRIORITY );
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446 vStartMathTasks( tskIDLE_PRIORITY );
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449 /*-----------------------------------------------------------*/
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451 static portBASE_TYPE prvCheckMathTasksAreStillRunning( void )
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453 #ifdef BCC_INDUSTRIAL_PC_PORT
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454 /* The Borland project does not yet support floating point. */
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455 return xAreIntegerMathsTaskStillRunning();
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457 return xAreMathsTaskStillRunning();
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460 /*-----------------------------------------------------------*/
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462 void vApplicationIdleHook( void )
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464 /* The co-routines are executed in the idle task using the idle task
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466 vCoRoutineSchedule();
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468 /*-----------------------------------------------------------*/
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