2 FreeRTOS.org V5.2.0 - Copyright (C) 2003-2009 Richard Barry.
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4 This file is part of the FreeRTOS.org distribution.
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6 FreeRTOS.org is free software; you can redistribute it and/or modify it
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7 under the terms of the GNU General Public License (version 2) as published
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8 by the Free Software Foundation and modified by the FreeRTOS exception.
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10 FreeRTOS.org is distributed in the hope that it will be useful, but WITHOUT
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11 ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
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12 FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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15 You should have received a copy of the GNU General Public License along
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16 with FreeRTOS.org; if not, write to the Free Software Foundation, Inc., 59
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17 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
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19 A special exception to the GPL is included to allow you to distribute a
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20 combined work that includes FreeRTOS.org without being obliged to provide
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21 the source code for any proprietary components. See the licensing section
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22 of http://www.FreeRTOS.org for full details.
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25 ***************************************************************************
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27 * Get the FreeRTOS eBook! See http://www.FreeRTOS.org/Documentation *
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29 * This is a concise, step by step, 'hands on' guide that describes both *
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30 * general multitasking concepts and FreeRTOS specifics. It presents and *
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31 * explains numerous examples that are written using the FreeRTOS API. *
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32 * Full source code for all the examples is provided in an accompanying *
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35 ***************************************************************************
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39 Please ensure to read the configuration and relevant port sections of the
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40 online documentation.
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42 http://www.FreeRTOS.org - Documentation, latest information, license and
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45 http://www.SafeRTOS.com - A version that is certified for use in safety
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48 http://www.OpenRTOS.com - Commercial support, development, porting,
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49 licensing and training services.
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53 NOTE : Tasks run in system mode and the scheduler runs in Supervisor mode.
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54 The processor MUST be in supervisor mode when vTaskStartScheduler is
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55 called. The demo applications included in the FreeRTOS.org download switch
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56 to supervisor mode prior to main being called. If you are not using one of
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57 these demo application projects then ensure Supervisor mode is used.
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62 * Program entry point.
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64 * main() is responsible for setting up the microcontroller peripherals, then
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65 * starting the demo application tasks. Once the tasks have been created the
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66 * scheduler is started and main() should never complete.
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68 * The demo creates the three standard 'flash' tasks to provide some visual
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69 * feedback that the system and scheduler are still operating correctly.
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71 * The HTTP server task operates at the highest priority so will always preempt
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72 * the flash or idle task on TCP/IP events.
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75 /* Standard includes. */
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78 /* Scheduler include files. */
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79 #include "FreeRTOS.h"
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83 /* Application includes. */
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85 #include "HTTP_Serv.h"
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87 #include "partest.h"
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88 #include "dynamic.h"
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89 #include "semtest.h"
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92 #include "integer.h"
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94 /*-----------------------------------------------------------*/
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96 /* Constants to setup the PLL. */
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97 #define mainPLL_MUL_4 ( ( unsigned portCHAR ) 0x0003 )
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98 #define mainPLL_DIV_1 ( ( unsigned portCHAR ) 0x0000 )
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99 #define mainPLL_ENABLE ( ( unsigned portCHAR ) 0x0001 )
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100 #define mainPLL_CONNECT ( ( unsigned portCHAR ) 0x0003 )
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101 #define mainPLL_FEED_BYTE1 ( ( unsigned portCHAR ) 0xaa )
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102 #define mainPLL_FEED_BYTE2 ( ( unsigned portCHAR ) 0x55 )
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103 #define mainPLL_LOCK ( ( unsigned portLONG ) 0x0400 )
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105 /* Constants to setup the MAM. */
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106 #define mainMAM_TIM_3 ( ( unsigned portCHAR ) 0x03 )
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107 #define mainMAM_MODE_FULL ( ( unsigned portCHAR ) 0x02 )
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109 /* Constants to setup the peripheral bus. */
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110 #define mainBUS_CLK_FULL ( ( unsigned portCHAR ) 0x01 )
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112 /* Constants to setup I/O and processor. */
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113 #define mainBUS_CLK_FULL ( ( unsigned portCHAR ) 0x01 )
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114 #define mainLED_TO_OUTPUT ( ( unsigned portLONG ) 0xff0000 )
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115 #define mainJTAG_PORT ( ( unsigned portLONG ) 0x3E0000UL )
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117 /* Priorities for the demo application tasks. */
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118 #define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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119 #define mainHTTP_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
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120 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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121 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
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122 #define mainERROR_CHECK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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124 /* Flash rates of the on board LED to indicate the health of the system. */
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125 #define mainNO_ERROR_DELAY ( 3000 )
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126 #define mainERROR_DELAY ( 500 )
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127 #define mainON_BOARD_LED_BIT ( ( unsigned portLONG ) 0x80 )
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129 /*-----------------------------------------------------------*/
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132 * The Olimex demo board has a single built in LED. This function simply
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133 * toggles its state.
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135 void prvToggleOnBoardLED( void );
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138 * Configure the processor for use with the Olimex demo board.
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140 static void prvSetupHardware( void );
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143 * Simply check for errors and toggle the onboard LED.
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145 static void prvErrorChecks( void *pvParameters );
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148 * Return true if the demo tasks are executing without error - otherwise
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151 static void prvMainCheckOtherTasksAreStillRunning( void );
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152 /*-----------------------------------------------------------*/
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154 /* Flag set by prvMainCheckOtherTasksAreStillExecuting(). */
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155 portLONG lErrorInTask = pdFALSE;
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158 * Application entry point:
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159 * Starts all the other tasks, then starts the scheduler.
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163 /* Setup the hardware for use with the Olimex demo board. */
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164 prvSetupHardware();
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166 /* Start the standard flash tasks so the WEB server is not the only thing
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168 vStartLEDFlashTasks( mainLED_TASK_PRIORITY );
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169 vStartSemaphoreTasks( tskIDLE_PRIORITY );
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170 vStartDynamicPriorityTasks();
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171 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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172 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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173 vStartIntegerMathTasks( tskIDLE_PRIORITY );
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175 /* Start the WEB server task and the error check task. */
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176 xTaskCreate( vHTTPServerTask, ( signed portCHAR * ) "HTTP", configMINIMAL_STACK_SIZE, NULL, mainHTTP_TASK_PRIORITY, NULL );
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177 xTaskCreate( prvErrorChecks, ( signed portCHAR * ) "Check", configMINIMAL_STACK_SIZE, NULL, mainERROR_CHECK_PRIORITY, NULL );
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179 /* Now all the tasks have been started - start the scheduler.
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181 NOTE : Tasks run in system mode and the scheduler runs in Supervisor mode.
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182 The processor MUST be in supervisor mode when vTaskStartScheduler is
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183 called. The demo applications included in the FreeRTOS.org download switch
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184 to supervisor mode prior to main being called. If you are not using one of
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185 these demo application projects then ensure Supervisor mode is used. */
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186 vTaskStartScheduler();
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188 /* Should never reach here! */
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191 /*-----------------------------------------------------------*/
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193 static void prvSetupHardware( void )
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195 #ifdef RUN_FROM_RAM
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196 /* Remap the interrupt vectors to RAM if we are are running from RAM. */
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200 /* Set all GPIO to output other than the P0.14 (BSL), and the JTAG pins.
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201 The JTAG pins are left as input as I'm not sure what will happen if the
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202 Wiggler is connected after powerup - not that it would be a good idea to
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204 GPIO_IODIR = ~( mainJTAG_PORT );
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206 /* Setup the PLL to multiply the XTAL input by 4. */
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207 SCB_PLLCFG = ( mainPLL_MUL_4 | mainPLL_DIV_1 );
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209 /* Activate the PLL by turning it on then feeding the correct sequence of
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211 SCB_PLLCON = mainPLL_ENABLE;
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212 SCB_PLLFEED = mainPLL_FEED_BYTE1;
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213 SCB_PLLFEED = mainPLL_FEED_BYTE2;
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215 /* Wait for the PLL to lock... */
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216 while( !( SCB_PLLSTAT & mainPLL_LOCK ) );
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218 /* ...before connecting it using the feed sequence again. */
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219 SCB_PLLCON = mainPLL_CONNECT;
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220 SCB_PLLFEED = mainPLL_FEED_BYTE1;
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221 SCB_PLLFEED = mainPLL_FEED_BYTE2;
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223 /* Setup and turn on the MAM. Three cycle access is used due to the fast
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224 PLL used. It is possible faster overall performance could be obtained by
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225 tuning the MAM and PLL settings. */
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226 MAM_TIM = mainMAM_TIM_3;
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227 MAM_CR = mainMAM_MODE_FULL;
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229 /* Setup the peripheral bus to be the same as the PLL output. */
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230 SCB_VPBDIV = mainBUS_CLK_FULL;
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232 /* Initialise the i2c peripheral. */
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235 /* Initialise the LED's used by the flash tasks. */
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236 vParTestInitialise();
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238 /*-----------------------------------------------------------*/
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240 static void prvMainCheckOtherTasksAreStillRunning( void )
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242 /* Check all the demo tasks (other than the flash tasks) to ensure
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243 that they are all still running, and that none of them have detected
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246 /* This function is called from more than one task. */
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247 if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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249 lErrorInTask = pdTRUE;
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252 if( xArePollingQueuesStillRunning() != pdTRUE )
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254 lErrorInTask = pdTRUE;
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257 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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259 lErrorInTask = pdTRUE;
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262 if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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264 lErrorInTask = pdTRUE;
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267 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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269 lErrorInTask = pdTRUE;
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272 /*-----------------------------------------------------------*/
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274 void prvToggleOnBoardLED( void )
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276 unsigned portLONG ulState;
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278 ulState = GPIO0_IOPIN;
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279 if( ulState & mainON_BOARD_LED_BIT )
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281 GPIO_IOCLR = mainON_BOARD_LED_BIT;
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285 GPIO_IOSET = mainON_BOARD_LED_BIT;
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288 /*-----------------------------------------------------------*/
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290 static void prvErrorChecks( void *pvParameters )
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292 portTickType xDelay = mainNO_ERROR_DELAY;
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294 /* The parameters are not used. */
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295 ( void ) pvParameters;
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299 /* How long we delay depends on whether an error has been detected
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300 or not. Therefore the flash rate of the on board LED indicates
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301 whether or not an error has occurred. */
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302 vTaskDelay( xDelay );
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304 /* Update the lErrorInTask flag. */
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305 prvMainCheckOtherTasksAreStillRunning();
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309 /* An error has been found so reduce the delay period and in so
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310 doing speed up the flash rate of the on board LED. */
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311 xDelay = mainERROR_DELAY;
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314 prvToggleOnBoardLED();
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