2 FreeRTOS.org V4.6.1 - 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 a version that has been certified for use
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32 in safety critical systems, plus commercial licensing, development and
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34 ***************************************************************************
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38 * Creates all the demo application tasks and co-routines, then starts the
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41 * Main. c also creates a task called "Print". This only executes every
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42 * five seconds but has the highest priority so is guaranteed to get
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43 * processor time. Its main function is to check that all the other tasks
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44 * are still operational. Nearly all the tasks in the demo application
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45 * maintain a unique count that is incremented each time the task successfully
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46 * completes its function. Should any error occur within the task the count is
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47 * permanently halted. The print task checks the count of each task to ensure
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48 * it has changed since the last time the print task executed. If any count is
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49 * found not to have changed the print task displays an appropriate message.
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50 * If all the tasks are still incrementing their unique counts the print task
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51 * displays an "OK" message.
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53 * The LED flash tasks do not maintain a count as they already provide visual
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54 * feedback of their status.
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56 * The print task blocks on the queue into which messages that require
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57 * displaying are posted. It will therefore only block for the full 5 seconds
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58 * if no messages are posted onto the queue.
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60 * Main. c also provides a demonstration of how the trace visualisation utility
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61 * can be used, and how the scheduler can be stopped.
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63 * \page MainC main.c
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64 * \ingroup DemoFiles
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71 + Prevent the call to kbhit() for debug builds as the debugger seems to
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72 have problems stepping over the call.
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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 + Create new tasks as defined by the new demo application file dynamic.c.
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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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91 + The tasks defined in the new file "events.c" are now created and
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92 monitored for errors.
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96 + Now includes the flash co-routine demo rather than the flash task demo.
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97 This is to demonstrate the co-routine functionality.
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100 #include <stdlib.h>
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102 #include "FreeRTOS.h"
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104 #include "croutine.h"
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105 #include "partest.h"
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106 #include "serial.h"
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108 /* Demo file headers. */
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109 #include "BlockQ.h"
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112 #include "crflash.h"
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115 #include "comtest.h"
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116 #include "fileio.h"
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117 #include "semtest.h"
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118 #include "integer.h"
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119 #include "dynamic.h"
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120 #include "mevents.h"
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121 #include "crhook.h"
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122 #include "blocktim.h"
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123 #include "GenQTest.h"
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126 /* Priority definitions for the tasks in the demo application. */
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127 #define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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128 #define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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129 #define mainPRINT_TASK_PRIORITY ( tskIDLE_PRIORITY + 4 )
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130 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
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131 #define mainQUEUE_BLOCK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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132 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
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133 #define mainSEMAPHORE_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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134 #define mainGENERIC_QUEUE_PRIORITY ( tskIDLE_PRIORITY )
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136 #define mainPRINT_STACK_SIZE ( ( unsigned portSHORT ) 512 )
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137 #define mainDEBUG_LOG_BUFFER_SIZE ( ( unsigned portSHORT ) 20480 )
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139 /* The number of flash co-routines to create. */
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140 #define mainNUM_FLASH_CO_ROUTINES ( 8 )
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142 /* Task function for the "Print" task as described at the top of the file. */
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143 static void vErrorChecks( void *pvParameters );
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145 /* Function that checks the unique count of all the other tasks as described at
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146 the top of the file. */
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147 static void prvCheckOtherTasksAreStillRunning( void );
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149 /* Key presses can be used to start/stop the trace visualisation utility or stop
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151 static void prvCheckForKeyPresses( void );
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153 /* Buffer used by the trace visualisation utility so only needed if the trace
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155 #if configUSE_TRACE_FACILITY == 1
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156 static portCHAR pcWriteBuffer[ mainDEBUG_LOG_BUFFER_SIZE ];
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159 /* Constant definition used to turn on/off the pre-emptive scheduler. */
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160 static const portSHORT sUsingPreemption = configUSE_PREEMPTION;
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162 /* Start the math tasks appropriate to the build. The Borland port does
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163 not yet support floating point so uses the integer equivalent. */
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164 static void prvStartMathTasks( void );
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166 /* Check which ever tasks are relevant to this build. */
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167 static portBASE_TYPE prvCheckMathTasksAreStillRunning( void );
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169 /*-----------------------------------------------------------*/
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171 portSHORT main( void )
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173 /* Initialise hardware and utilities. */
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174 vParTestInitialise();
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175 vPrintInitialise();
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177 /* CREATE ALL THE DEMO APPLICATION TASKS. */
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178 prvStartMathTasks();
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179 vStartComTestTasks( mainCOM_TEST_PRIORITY, serCOM1, ser115200 );
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180 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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181 vStartBlockingQueueTasks( mainQUEUE_BLOCK_PRIORITY );
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182 vCreateBlockTimeTasks();
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183 vStartGenericQueueTasks( mainGENERIC_QUEUE_PRIORITY );
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184 vStartSemaphoreTasks( mainSEMAPHORE_TASK_PRIORITY );
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185 vStartDynamicPriorityTasks();
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186 vStartMultiEventTasks();
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187 vStartQueuePeekTasks();
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189 /* Create the "Print" task as described at the top of the file. */
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190 xTaskCreate( vErrorChecks, "Print", mainPRINT_STACK_SIZE, NULL, mainPRINT_TASK_PRIORITY, NULL );
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192 /* This task has to be created last as it keeps account of the number of tasks
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193 it expects to see running. */
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194 vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
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196 /* Create the co-routines that flash the LED's. */
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197 vStartFlashCoRoutines( mainNUM_FLASH_CO_ROUTINES );
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199 /* Create the co-routines that communicate with the tick hook. */
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200 vStartHookCoRoutines();
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202 /* Set the scheduler running. This function will not return unless a task
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203 calls vTaskEndScheduler(). */
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204 vTaskStartScheduler();
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208 /*-----------------------------------------------------------*/
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210 static void vErrorChecks( void *pvParameters )
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212 portTickType xExpectedWakeTime;
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213 const portTickType xPrintRate = ( portTickType ) 5000 / portTICK_RATE_MS;
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214 const portLONG lMaxAllowableTimeDifference = ( portLONG ) 0;
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215 portTickType xWakeTime;
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216 portLONG lTimeDifference;
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217 const portCHAR *pcReceivedMessage;
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218 const portCHAR * const pcTaskBlockedTooLongMsg = "Print task blocked too long!\r\n";
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220 ( void ) pvParameters;
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222 /* Loop continuously, blocking, then checking all the other tasks are still
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223 running, before blocking once again. This task blocks on the queue of
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224 messages that require displaying so will wake either by its time out expiring,
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225 or a message becoming available. */
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228 /* Calculate the time we will unblock if no messages are received
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229 on the queue. This is used to check that we have not blocked for too long. */
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230 xExpectedWakeTime = xTaskGetTickCount();
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231 xExpectedWakeTime += xPrintRate;
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233 /* Block waiting for either a time out or a message to be posted that
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234 required displaying. */
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235 pcReceivedMessage = pcPrintGetNextMessage( xPrintRate );
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237 /* Was a message received? */
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238 if( pcReceivedMessage == NULL )
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240 /* A message was not received so we timed out, did we unblock at the
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242 xWakeTime = xTaskGetTickCount();
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244 /* Calculate the difference between the time we unblocked and the
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245 time we should have unblocked. */
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246 if( xWakeTime > xExpectedWakeTime )
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248 lTimeDifference = ( portLONG ) ( xWakeTime - xExpectedWakeTime );
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252 lTimeDifference = ( portLONG ) ( xExpectedWakeTime - xWakeTime );
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255 if( lTimeDifference > lMaxAllowableTimeDifference )
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257 /* We blocked too long - create a message that will get
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258 printed out the next time around. If we are not using
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259 preemption then we won't expect the timing to be so
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261 if( sUsingPreemption == pdTRUE )
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263 vPrintDisplayMessage( &pcTaskBlockedTooLongMsg );
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267 /* Check the other tasks are still running, just in case. */
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268 prvCheckOtherTasksAreStillRunning();
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272 /* We unblocked due to a message becoming available. Send the message
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274 vDisplayMessage( pcReceivedMessage );
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277 /* Key presses are used to invoke the trace visualisation utility, or end
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279 prvCheckForKeyPresses();
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282 /*-----------------------------------------------------------*/
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284 static void prvCheckForKeyPresses( void )
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288 taskENTER_CRITICAL();
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290 /* kbhit can be used in .exe's that are executed from the command
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291 line, but not if executed through the debugger. */
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296 taskEXIT_CRITICAL();
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300 /* Key presses can be used to start/stop the trace utility, or end the
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305 /* Only define keys for turning on and off the trace if the trace
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307 #if configUSE_TRACE_FACILITY == 1
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308 case 't' : vTaskList( pcWriteBuffer );
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309 vWriteMessageToDisk( pcWriteBuffer );
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311 case 's' : vTaskStartTrace( pcWriteBuffer, mainDEBUG_LOG_BUFFER_SIZE );
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315 unsigned portLONG ulBufferLength;
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316 ulBufferLength = ulTaskEndTrace();
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317 vWriteBufferToDisk( pcWriteBuffer, ulBufferLength );
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322 default : vTaskEndScheduler();
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327 /*-----------------------------------------------------------*/
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329 static void prvCheckOtherTasksAreStillRunning( void )
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331 static portSHORT sErrorHasOccurred = pdFALSE;
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333 if( prvCheckMathTasksAreStillRunning() != pdTRUE )
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335 vDisplayMessage( "Maths task count unchanged!\r\n" );
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336 sErrorHasOccurred = pdTRUE;
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339 if( xAreComTestTasksStillRunning() != pdTRUE )
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341 vDisplayMessage( "Com test count unchanged!\r\n" );
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342 sErrorHasOccurred = pdTRUE;
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345 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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347 vDisplayMessage( "Blocking queues count unchanged!\r\n" );
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348 sErrorHasOccurred = pdTRUE;
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351 if( xArePollingQueuesStillRunning() != pdTRUE )
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353 vDisplayMessage( "Polling queue count unchanged!\r\n" );
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354 sErrorHasOccurred = pdTRUE;
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357 if( xIsCreateTaskStillRunning() != pdTRUE )
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359 vDisplayMessage( "Incorrect number of tasks running!\r\n" );
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360 sErrorHasOccurred = pdTRUE;
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363 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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365 vDisplayMessage( "Semaphore take count unchanged!\r\n" );
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366 sErrorHasOccurred = pdTRUE;
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369 if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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371 vDisplayMessage( "Dynamic priority count unchanged!\r\n" );
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372 sErrorHasOccurred = pdTRUE;
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375 if( xAreMultiEventTasksStillRunning() != pdTRUE )
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377 vDisplayMessage( "Error in multi events tasks!\r\n" );
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378 sErrorHasOccurred = pdTRUE;
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381 if( xAreFlashCoRoutinesStillRunning() != pdTRUE )
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383 vDisplayMessage( "Error in co-routine flash tasks!\r\n" );
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384 sErrorHasOccurred = pdTRUE;
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387 if( xAreHookCoRoutinesStillRunning() != pdTRUE )
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389 vDisplayMessage( "Error in tick hook to co-routine communications!\r\n" );
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390 sErrorHasOccurred = pdTRUE;
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393 if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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395 vDisplayMessage( "Error in block time test tasks!\r\n" );
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396 sErrorHasOccurred = pdTRUE;
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399 if( xAreGenericQueueTasksStillRunning() != pdTRUE )
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401 vDisplayMessage( "Error in generic queue test task!\r\n" );
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402 sErrorHasOccurred = pdTRUE;
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405 if( xAreQueuePeekTasksStillRunning() != pdTRUE )
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407 vDisplayMessage( "Error in queue peek test task!\r\n" );
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408 sErrorHasOccurred = pdTRUE;
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411 if( sErrorHasOccurred == pdFALSE )
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413 vDisplayMessage( "OK " );
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416 /*-----------------------------------------------------------*/
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418 static void prvStartMathTasks( void )
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420 #ifdef BCC_INDUSTRIAL_PC_PORT
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421 /* The Borland project does not yet support floating point. */
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422 vStartIntegerMathTasks( tskIDLE_PRIORITY );
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424 vStartMathTasks( tskIDLE_PRIORITY );
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427 /*-----------------------------------------------------------*/
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429 static portBASE_TYPE prvCheckMathTasksAreStillRunning( void )
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431 #ifdef BCC_INDUSTRIAL_PC_PORT
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432 /* The Borland project does not yet support floating point. */
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433 return xAreIntegerMathsTaskStillRunning();
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435 return xAreMathsTaskStillRunning();
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438 /*-----------------------------------------------------------*/
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440 void vApplicationIdleHook( void )
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442 /* The co-routines are executed in the idle task using the idle task
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444 vCoRoutineSchedule();
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446 /*-----------------------------------------------------------*/
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