2 FreeRTOS V5.4.0 - Copyright (C) 2003-2009 Richard Barry.
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4 This file is part of the FreeRTOS distribution.
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6 FreeRTOS is free software; you can redistribute it and/or modify it under
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7 the terms of the GNU General Public License (version 2) as published by the
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8 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 without being obliged to provide the
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11 source code for proprietary components outside of the FreeRTOS kernel.
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12 Alternative commercial license and support terms are also available upon
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13 request. See the licensing section of http://www.FreeRTOS.org for full
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16 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT
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17 ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
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18 FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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21 You should have received a copy of the GNU General Public License along
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22 with FreeRTOS; if not, write to the Free Software Foundation, Inc., 59
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23 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
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26 ***************************************************************************
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28 * Looking for a quick start? Then check out the FreeRTOS eBook! *
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29 * See http://www.FreeRTOS.org/Documentation for details *
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31 ***************************************************************************
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35 Please ensure to read the configuration and relevant port sections of the
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36 online documentation.
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38 http://www.FreeRTOS.org - Documentation, latest information, license and
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41 http://www.SafeRTOS.com - A version that is certified for use in safety
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44 http://www.OpenRTOS.com - Commercial support, development, porting,
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45 licensing and training services.
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49 NOTE : Tasks run in system mode and the scheduler runs in Supervisor mode.
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50 The processor MUST be in supervisor mode when vTaskStartScheduler is
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51 called. The demo applications included in the FreeRTOS.org download switch
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52 to supervisor mode prior to main being called. If you are not using one of
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53 these demo application projects then ensure Supervisor mode is used.
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58 * Program entry point.
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60 * main() is responsible for setting up the microcontroller peripherals, then
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61 * starting the demo application tasks. Once the tasks have been created the
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62 * scheduler is started and main() should never complete.
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64 * The demo creates the three standard 'flash' tasks to provide some visual
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65 * feedback that the system and scheduler are still operating correctly.
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67 * The HTTP server task operates at the highest priority so will always preempt
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68 * the flash or idle task on TCP/IP events.
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71 /* Standard includes. */
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74 /* Scheduler include files. */
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75 #include "FreeRTOS.h"
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79 /* Application includes. */
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81 #include "HTTP_Serv.h"
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83 #include "partest.h"
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84 #include "dynamic.h"
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85 #include "semtest.h"
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88 #include "integer.h"
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90 /*-----------------------------------------------------------*/
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92 /* Constants to setup the PLL. */
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93 #define mainPLL_MUL_4 ( ( unsigned portCHAR ) 0x0003 )
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94 #define mainPLL_DIV_1 ( ( unsigned portCHAR ) 0x0000 )
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95 #define mainPLL_ENABLE ( ( unsigned portCHAR ) 0x0001 )
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96 #define mainPLL_CONNECT ( ( unsigned portCHAR ) 0x0003 )
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97 #define mainPLL_FEED_BYTE1 ( ( unsigned portCHAR ) 0xaa )
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98 #define mainPLL_FEED_BYTE2 ( ( unsigned portCHAR ) 0x55 )
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99 #define mainPLL_LOCK ( ( unsigned portLONG ) 0x0400 )
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101 /* Constants to setup the MAM. */
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102 #define mainMAM_TIM_3 ( ( unsigned portCHAR ) 0x03 )
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103 #define mainMAM_MODE_FULL ( ( unsigned portCHAR ) 0x02 )
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105 /* Constants to setup the peripheral bus. */
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106 #define mainBUS_CLK_FULL ( ( unsigned portCHAR ) 0x01 )
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108 /* Constants to setup I/O and processor. */
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109 #define mainBUS_CLK_FULL ( ( unsigned portCHAR ) 0x01 )
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110 #define mainLED_TO_OUTPUT ( ( unsigned portLONG ) 0xff0000 )
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111 #define mainJTAG_PORT ( ( unsigned portLONG ) 0x3E0000UL )
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113 /* Priorities for the demo application tasks. */
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114 #define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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115 #define mainHTTP_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
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116 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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117 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
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118 #define mainERROR_CHECK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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120 /* Flash rates of the on board LED to indicate the health of the system. */
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121 #define mainNO_ERROR_DELAY ( 3000 )
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122 #define mainERROR_DELAY ( 500 )
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123 #define mainON_BOARD_LED_BIT ( ( unsigned portLONG ) 0x80 )
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125 /*-----------------------------------------------------------*/
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128 * The Olimex demo board has a single built in LED. This function simply
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129 * toggles its state.
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131 void prvToggleOnBoardLED( void );
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134 * Configure the processor for use with the Olimex demo board.
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136 static void prvSetupHardware( void );
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139 * Simply check for errors and toggle the onboard LED.
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141 static void prvErrorChecks( void *pvParameters );
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144 * Return true if the demo tasks are executing without error - otherwise
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147 static void prvMainCheckOtherTasksAreStillRunning( void );
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148 /*-----------------------------------------------------------*/
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150 /* Flag set by prvMainCheckOtherTasksAreStillExecuting(). */
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151 portLONG lErrorInTask = pdFALSE;
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154 * Application entry point:
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155 * Starts all the other tasks, then starts the scheduler.
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159 /* Setup the hardware for use with the Olimex demo board. */
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160 prvSetupHardware();
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162 /* Start the standard flash tasks so the WEB server is not the only thing
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164 vStartLEDFlashTasks( mainLED_TASK_PRIORITY );
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165 vStartSemaphoreTasks( tskIDLE_PRIORITY );
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166 vStartDynamicPriorityTasks();
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167 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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168 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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169 vStartIntegerMathTasks( tskIDLE_PRIORITY );
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171 /* Start the WEB server task and the error check task. */
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172 xTaskCreate( vHTTPServerTask, ( signed portCHAR * ) "HTTP", configMINIMAL_STACK_SIZE, NULL, mainHTTP_TASK_PRIORITY, NULL );
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173 xTaskCreate( prvErrorChecks, ( signed portCHAR * ) "Check", configMINIMAL_STACK_SIZE, NULL, mainERROR_CHECK_PRIORITY, NULL );
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175 /* Now all the tasks have been started - start the scheduler.
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177 NOTE : Tasks run in system mode and the scheduler runs in Supervisor mode.
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178 The processor MUST be in supervisor mode when vTaskStartScheduler is
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179 called. The demo applications included in the FreeRTOS.org download switch
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180 to supervisor mode prior to main being called. If you are not using one of
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181 these demo application projects then ensure Supervisor mode is used. */
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182 vTaskStartScheduler();
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184 /* Should never reach here! */
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187 /*-----------------------------------------------------------*/
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189 static void prvSetupHardware( void )
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191 #ifdef RUN_FROM_RAM
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192 /* Remap the interrupt vectors to RAM if we are are running from RAM. */
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196 /* Set all GPIO to output other than the P0.14 (BSL), and the JTAG pins.
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197 The JTAG pins are left as input as I'm not sure what will happen if the
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198 Wiggler is connected after powerup - not that it would be a good idea to
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200 GPIO_IODIR = ~( mainJTAG_PORT );
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202 /* Setup the PLL to multiply the XTAL input by 4. */
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203 SCB_PLLCFG = ( mainPLL_MUL_4 | mainPLL_DIV_1 );
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205 /* Activate the PLL by turning it on then feeding the correct sequence of
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207 SCB_PLLCON = mainPLL_ENABLE;
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208 SCB_PLLFEED = mainPLL_FEED_BYTE1;
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209 SCB_PLLFEED = mainPLL_FEED_BYTE2;
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211 /* Wait for the PLL to lock... */
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212 while( !( SCB_PLLSTAT & mainPLL_LOCK ) );
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214 /* ...before connecting it using the feed sequence again. */
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215 SCB_PLLCON = mainPLL_CONNECT;
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216 SCB_PLLFEED = mainPLL_FEED_BYTE1;
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217 SCB_PLLFEED = mainPLL_FEED_BYTE2;
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219 /* Setup and turn on the MAM. Three cycle access is used due to the fast
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220 PLL used. It is possible faster overall performance could be obtained by
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221 tuning the MAM and PLL settings. */
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222 MAM_TIM = mainMAM_TIM_3;
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223 MAM_CR = mainMAM_MODE_FULL;
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225 /* Setup the peripheral bus to be the same as the PLL output. */
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226 SCB_VPBDIV = mainBUS_CLK_FULL;
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228 /* Initialise the i2c peripheral. */
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231 /* Initialise the LED's used by the flash tasks. */
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232 vParTestInitialise();
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234 /*-----------------------------------------------------------*/
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236 static void prvMainCheckOtherTasksAreStillRunning( void )
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238 /* Check all the demo tasks (other than the flash tasks) to ensure
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239 that they are all still running, and that none of them have detected
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242 /* This function is called from more than one task. */
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243 if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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245 lErrorInTask = pdTRUE;
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248 if( xArePollingQueuesStillRunning() != pdTRUE )
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250 lErrorInTask = pdTRUE;
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253 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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255 lErrorInTask = pdTRUE;
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258 if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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260 lErrorInTask = pdTRUE;
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263 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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265 lErrorInTask = pdTRUE;
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268 /*-----------------------------------------------------------*/
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270 void prvToggleOnBoardLED( void )
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272 unsigned portLONG ulState;
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274 ulState = GPIO0_IOPIN;
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275 if( ulState & mainON_BOARD_LED_BIT )
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277 GPIO_IOCLR = mainON_BOARD_LED_BIT;
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281 GPIO_IOSET = mainON_BOARD_LED_BIT;
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284 /*-----------------------------------------------------------*/
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286 static void prvErrorChecks( void *pvParameters )
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288 portTickType xDelay = mainNO_ERROR_DELAY;
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290 /* The parameters are not used. */
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291 ( void ) pvParameters;
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295 /* How long we delay depends on whether an error has been detected
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296 or not. Therefore the flash rate of the on board LED indicates
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297 whether or not an error has occurred. */
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298 vTaskDelay( xDelay );
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300 /* Update the lErrorInTask flag. */
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301 prvMainCheckOtherTasksAreStillRunning();
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305 /* An error has been found so reduce the delay period and in so
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306 doing speed up the flash rate of the on board LED. */
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307 xDelay = mainERROR_DELAY;
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310 prvToggleOnBoardLED();
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