2 FreeRTOS.org V4.5.0 - Copyright (C) 2003-2007 Richard Barry.
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4 This file is part of the FreeRTOS.org distribution.
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6 FreeRTOS.org is free software; you can redistribute it and/or modify
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7 it under the terms of the GNU General Public License as published by
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8 the Free Software Foundation; either version 2 of the License, or
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9 (at your option) any later version.
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11 FreeRTOS.org is distributed in the hope that it will be useful,
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12 but WITHOUT ANY WARRANTY; without even the implied warranty of
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13 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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14 GNU General Public License for more details.
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16 You should have received a copy of the GNU General Public License
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17 along with FreeRTOS.org; if not, write to the Free Software
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18 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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20 A special exception to the GPL can be applied should you wish to distribute
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21 a combined work that includes FreeRTOS.org, without being obliged to provide
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22 the source code for any proprietary components. See the licensing section
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23 of http://www.FreeRTOS.org for full details of how and when the exception
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26 ***************************************************************************
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27 See http://www.FreeRTOS.org for documentation, latest information, license
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28 and contact details. Please ensure to read the configuration and relevant
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29 port sections of the online documentation.
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31 Also see http://www.SafeRTOS.com for an IEC 61508 compliant version along
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32 with commercial development and support options.
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33 ***************************************************************************
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37 * Creates all the demo application tasks and co-routines, then starts the
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40 * Main. c also creates a task called "Print". This only executes every
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41 * five seconds but has the highest priority so is guaranteed to get
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42 * processor time. Its main function is to check that all the other tasks
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43 * are still operational. Nearly all the tasks in the demo application
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44 * maintain a unique count that is incremented each time the task successfully
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45 * completes its function. Should any error occur within the task the count is
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46 * permanently halted. The print task checks the count of each task to ensure
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47 * it has changed since the last time the print task executed. If any count is
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48 * found not to have changed the print task displays an appropriate message.
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49 * If all the tasks are still incrementing their unique counts the print task
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50 * displays an "OK" message.
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52 * The LED flash tasks do not maintain a count as they already provide visual
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53 * feedback of their status.
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55 * The print task blocks on the queue into which messages that require
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56 * displaying are posted. It will therefore only block for the full 5 seconds
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57 * if no messages are posted onto the queue.
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59 * Main. c also provides a demonstration of how the trace visualisation utility
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60 * can be used, and how the scheduler can be stopped.
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62 * \page MainC main.c
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63 * \ingroup DemoFiles
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70 + Prevent the call to kbhit() for debug builds as the debugger seems to
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71 have problems stepping over the call.
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75 + The integer and comtest tasks are now used when the cooperative scheduler
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76 is being used. Previously they were only used with the preemptive
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81 + Create new tasks as defined by the new demo application file dynamic.c.
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85 + Delay periods are now specified using variables and constants of
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86 portTickType rather than unsigned portLONG.
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90 + The tasks defined in the new file "events.c" are now created and
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91 monitored for errors.
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95 + Now includes the flash co-routine demo rather than the flash task demo.
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96 This is to demonstrate the co-routine functionality.
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101 #include "FreeRTOS.h"
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103 #include "croutine.h"
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104 #include "partest.h"
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105 #include "serial.h"
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107 /* Demo file headers. */
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108 #include "BlockQ.h"
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111 #include "crflash.h"
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114 #include "comtest.h"
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115 #include "fileio.h"
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116 #include "semtest.h"
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117 #include "integer.h"
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118 #include "dynamic.h"
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119 #include "mevents.h"
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120 #include "crhook.h"
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121 #include "blocktim.h"
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122 #include "GenQTest.h"
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125 /* Priority definitions for the tasks in the demo application. */
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126 #define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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127 #define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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128 #define mainPRINT_TASK_PRIORITY ( tskIDLE_PRIORITY + 4 )
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129 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
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130 #define mainQUEUE_BLOCK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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131 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
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132 #define mainSEMAPHORE_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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133 #define mainGENERIC_QUEUE_PRIORITY ( tskIDLE_PRIORITY )
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135 #define mainPRINT_STACK_SIZE ( ( unsigned portSHORT ) 512 )
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136 #define mainDEBUG_LOG_BUFFER_SIZE ( ( unsigned portSHORT ) 20480 )
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138 /* The number of flash co-routines to create. */
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139 #define mainNUM_FLASH_CO_ROUTINES ( 8 )
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141 /* Task function for the "Print" task as described at the top of the file. */
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142 static void vErrorChecks( void *pvParameters );
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144 /* Function that checks the unique count of all the other tasks as described at
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145 the top of the file. */
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146 static void prvCheckOtherTasksAreStillRunning( void );
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148 /* Key presses can be used to start/stop the trace visualisation utility or stop
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150 static void prvCheckForKeyPresses( void );
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152 /* Buffer used by the trace visualisation utility so only needed if the trace
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154 #if configUSE_TRACE_FACILITY == 1
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155 static portCHAR pcWriteBuffer[ mainDEBUG_LOG_BUFFER_SIZE ];
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158 /* Constant definition used to turn on/off the pre-emptive scheduler. */
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159 static const portSHORT sUsingPreemption = configUSE_PREEMPTION;
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161 /* Start the math tasks appropriate to the build. The Borland port does
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162 not yet support floating point so uses the integer equivalent. */
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163 static void prvStartMathTasks( void );
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165 /* Check which ever tasks are relevant to this build. */
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166 static portBASE_TYPE prvCheckMathTasksAreStillRunning( void );
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168 /*-----------------------------------------------------------*/
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170 portSHORT main( void )
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172 /* Initialise hardware and utilities. */
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173 vParTestInitialise();
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174 vPrintInitialise();
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176 /* CREATE ALL THE DEMO APPLICATION TASKS. */
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177 prvStartMathTasks();
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178 vStartComTestTasks( mainCOM_TEST_PRIORITY, serCOM1, ser115200 );
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179 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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180 vStartBlockingQueueTasks( mainQUEUE_BLOCK_PRIORITY );
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181 vCreateBlockTimeTasks();
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182 vStartGenericQueueTasks( mainGENERIC_QUEUE_PRIORITY );
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183 vStartSemaphoreTasks( mainSEMAPHORE_TASK_PRIORITY );
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184 vStartDynamicPriorityTasks();
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185 vStartMultiEventTasks();
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186 vStartQueuePeekTasks();
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188 /* Create the "Print" task as described at the top of the file. */
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189 xTaskCreate( vErrorChecks, "Print", mainPRINT_STACK_SIZE, NULL, mainPRINT_TASK_PRIORITY, NULL );
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191 /* This task has to be created last as it keeps account of the number of tasks
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192 it expects to see running. */
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193 vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
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195 /* Create the co-routines that flash the LED's. */
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196 vStartFlashCoRoutines( mainNUM_FLASH_CO_ROUTINES );
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198 /* Create the co-routines that communicate with the tick hook. */
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199 vStartHookCoRoutines();
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201 /* Set the scheduler running. This function will not return unless a task
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202 calls vTaskEndScheduler(). */
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203 vTaskStartScheduler();
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207 /*-----------------------------------------------------------*/
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209 static void vErrorChecks( void *pvParameters )
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211 portTickType xExpectedWakeTime;
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212 const portTickType xPrintRate = ( portTickType ) 5000 / portTICK_RATE_MS;
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213 const portLONG lMaxAllowableTimeDifference = ( portLONG ) 0;
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214 portTickType xWakeTime;
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215 portLONG lTimeDifference;
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216 const portCHAR *pcReceivedMessage;
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217 const portCHAR * const pcTaskBlockedTooLongMsg = "Print task blocked too long!\r\n";
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219 ( void ) pvParameters;
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221 /* Loop continuously, blocking, then checking all the other tasks are still
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222 running, before blocking once again. This task blocks on the queue of
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223 messages that require displaying so will wake either by its time out expiring,
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224 or a message becoming available. */
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227 /* Calculate the time we will unblock if no messages are received
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228 on the queue. This is used to check that we have not blocked for too long. */
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229 xExpectedWakeTime = xTaskGetTickCount();
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230 xExpectedWakeTime += xPrintRate;
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232 /* Block waiting for either a time out or a message to be posted that
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233 required displaying. */
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234 pcReceivedMessage = pcPrintGetNextMessage( xPrintRate );
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236 /* Was a message received? */
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237 if( pcReceivedMessage == NULL )
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239 /* A message was not received so we timed out, did we unblock at the
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241 xWakeTime = xTaskGetTickCount();
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243 /* Calculate the difference between the time we unblocked and the
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244 time we should have unblocked. */
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245 if( xWakeTime > xExpectedWakeTime )
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247 lTimeDifference = ( portLONG ) ( xWakeTime - xExpectedWakeTime );
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251 lTimeDifference = ( portLONG ) ( xExpectedWakeTime - xWakeTime );
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254 if( lTimeDifference > lMaxAllowableTimeDifference )
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256 /* We blocked too long - create a message that will get
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257 printed out the next time around. If we are not using
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258 preemption then we won't expect the timing to be so
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260 if( sUsingPreemption == pdTRUE )
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262 vPrintDisplayMessage( &pcTaskBlockedTooLongMsg );
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266 /* Check the other tasks are still running, just in case. */
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267 prvCheckOtherTasksAreStillRunning();
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271 /* We unblocked due to a message becoming available. Send the message
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273 vDisplayMessage( pcReceivedMessage );
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276 /* Key presses are used to invoke the trace visualisation utility, or end
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278 prvCheckForKeyPresses();
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281 /*-----------------------------------------------------------*/
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283 static void prvCheckForKeyPresses( void )
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287 taskENTER_CRITICAL();
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289 /* kbhit can be used in .exe's that are executed from the command
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290 line, but not if executed through the debugger. */
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295 taskEXIT_CRITICAL();
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299 /* Key presses can be used to start/stop the trace utility, or end the
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304 /* Only define keys for turning on and off the trace if the trace
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306 #if configUSE_TRACE_FACILITY == 1
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307 case 't' : vTaskList( pcWriteBuffer );
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308 vWriteMessageToDisk( pcWriteBuffer );
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310 case 's' : vTaskStartTrace( pcWriteBuffer, mainDEBUG_LOG_BUFFER_SIZE );
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314 unsigned portLONG ulBufferLength;
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315 ulBufferLength = ulTaskEndTrace();
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316 vWriteBufferToDisk( pcWriteBuffer, ulBufferLength );
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321 default : vTaskEndScheduler();
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326 /*-----------------------------------------------------------*/
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328 static void prvCheckOtherTasksAreStillRunning( void )
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330 static portSHORT sErrorHasOccurred = pdFALSE;
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332 if( prvCheckMathTasksAreStillRunning() != pdTRUE )
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334 vDisplayMessage( "Maths task count unchanged!\r\n" );
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335 sErrorHasOccurred = pdTRUE;
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338 if( xAreComTestTasksStillRunning() != pdTRUE )
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340 vDisplayMessage( "Com test count unchanged!\r\n" );
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341 sErrorHasOccurred = pdTRUE;
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344 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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346 vDisplayMessage( "Blocking queues count unchanged!\r\n" );
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347 sErrorHasOccurred = pdTRUE;
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350 if( xArePollingQueuesStillRunning() != pdTRUE )
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352 vDisplayMessage( "Polling queue count unchanged!\r\n" );
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353 sErrorHasOccurred = pdTRUE;
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356 if( xIsCreateTaskStillRunning() != pdTRUE )
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358 vDisplayMessage( "Incorrect number of tasks running!\r\n" );
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359 sErrorHasOccurred = pdTRUE;
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362 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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364 vDisplayMessage( "Semaphore take count unchanged!\r\n" );
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365 sErrorHasOccurred = pdTRUE;
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368 if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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370 vDisplayMessage( "Dynamic priority count unchanged!\r\n" );
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371 sErrorHasOccurred = pdTRUE;
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374 if( xAreMultiEventTasksStillRunning() != pdTRUE )
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376 vDisplayMessage( "Error in multi events tasks!\r\n" );
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377 sErrorHasOccurred = pdTRUE;
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380 if( xAreFlashCoRoutinesStillRunning() != pdTRUE )
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382 vDisplayMessage( "Error in co-routine flash tasks!\r\n" );
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383 sErrorHasOccurred = pdTRUE;
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386 if( xAreHookCoRoutinesStillRunning() != pdTRUE )
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388 vDisplayMessage( "Error in tick hook to co-routine communications!\r\n" );
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389 sErrorHasOccurred = pdTRUE;
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392 if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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394 vDisplayMessage( "Error in block time test tasks!\r\n" );
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395 sErrorHasOccurred = pdTRUE;
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398 if( xAreGenericQueueTasksStillRunning() != pdTRUE )
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400 vDisplayMessage( "Error in generic queue test task!\r\n" );
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401 sErrorHasOccurred = pdTRUE;
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404 if( xAreQueuePeekTasksStillRunning() != pdTRUE )
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406 vDisplayMessage( "Error in queue peek test task!\r\n" );
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407 sErrorHasOccurred = pdTRUE;
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410 if( sErrorHasOccurred == pdFALSE )
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412 vDisplayMessage( "OK " );
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415 /*-----------------------------------------------------------*/
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417 static void prvStartMathTasks( void )
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419 #ifdef BCC_INDUSTRIAL_PC_PORT
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420 /* The Borland project does not yet support floating point. */
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421 vStartIntegerMathTasks( tskIDLE_PRIORITY );
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423 vStartMathTasks( tskIDLE_PRIORITY );
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426 /*-----------------------------------------------------------*/
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428 static portBASE_TYPE prvCheckMathTasksAreStillRunning( void )
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430 #ifdef BCC_INDUSTRIAL_PC_PORT
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431 /* The Borland project does not yet support floating point. */
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432 return xAreIntegerMathsTaskStillRunning();
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434 return xAreMathsTaskStillRunning();
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437 /*-----------------------------------------------------------*/
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439 void vApplicationIdleHook( void )
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441 /* The co-routines are executed in the idle task using the idle task
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443 vCoRoutineSchedule();
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445 /*-----------------------------------------------------------*/
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