2 FreeRTOS.org V4.4.0 - 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 NOTE : Tasks run in system mode and the scheduler runs in Supervisor mode.
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38 The processor MUST be in supervisor mode when vTaskStartScheduler is
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39 called. The demo applications included in the FreeRTOS.org download switch
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40 to supervisor mode prior to main being called. If you are not using one of
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41 these demo application projects then ensure Supervisor mode is used.
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46 * Creates all the application tasks, then starts the scheduler.
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48 * A task defined by the function vBasicWEBServer is created. This executes
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49 * the lwIP stack and basic WEB server sample. A task defined by the function
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50 * vUSBCDCTask. This executes the USB to serial CDC example. All the other
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51 * tasks are from the set of standard demo tasks. The WEB documentation
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52 * provides more details of the standard demo application tasks.
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54 * Main.c also creates a task called "Check". This only executes every three
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55 * seconds but has the highest priority so is guaranteed to get processor time.
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56 * Its main function is to check the status of all the other demo application
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57 * tasks. LED mainCHECK_LED is toggled every three seconds by the check task
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58 * should no error conditions be detected in any of the standard demo tasks.
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59 * The toggle rate increasing to 500ms indicates that at least one error has
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62 * Main.c includes an idle hook function that simply periodically sends data
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63 * to the USB task for transmission.
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69 + Modified the stack sizes used by some tasks to permit use of the
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70 command line GCC tools.
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73 /* Library includes. */
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77 /* Scheduler includes. */
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78 #include "FreeRTOS.h"
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81 /* Demo application includes. */
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82 #include "partest.h"
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84 #include "semtest.h"
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86 #include "integer.h"
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88 #include "BasicWEB.h"
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89 #include "USB-CDC.h"
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91 /* lwIP includes. */
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92 #include "lwip/api.h"
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94 /* Hardware specific headers. */
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96 #include "AT91SAM7X256.h"
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98 /* Priorities/stacks for the various tasks within the demo application. */
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99 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 1 )
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100 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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101 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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102 #define mainFLASH_PRIORITY ( tskIDLE_PRIORITY + 2 )
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103 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 1 )
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104 #define mainWEBSERVER_PRIORITY ( tskIDLE_PRIORITY + 2 )
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105 #define mainUSB_PRIORITY ( tskIDLE_PRIORITY + 1 )
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106 #define mainUSB_TASK_STACK ( 200 )
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108 /* The rate at which the on board LED will toggle when there is/is not an
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110 #define mainNO_ERROR_FLASH_PERIOD ( ( portTickType ) 3000 / portTICK_RATE_MS )
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111 #define mainERROR_FLASH_PERIOD ( ( portTickType ) 500 / portTICK_RATE_MS )
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113 /* The rate at which the idle hook sends data to the USB port. */
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114 #define mainUSB_TX_FREQUENCY ( 100 / portTICK_RATE_MS )
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116 /* The string that is transmitted down the USB port. */
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117 #define mainFIRST_TX_CHAR 'a'
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118 #define mainLAST_TX_CHAR 'z'
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120 /* The LED used by the check task to indicate the system status. */
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121 #define mainCHECK_LED ( 3 )
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122 /*-----------------------------------------------------------*/
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125 * Checks that all the demo application tasks are still executing without error
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126 * - as described at the top of the file.
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128 static portLONG prvCheckOtherTasksAreStillRunning( void );
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131 * The task that executes at the highest priority and calls
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132 * prvCheckOtherTasksAreStillRunning(). See the description at the top
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135 static void vErrorChecks( void *pvParameters );
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138 * Configure the processor for use with the Atmel demo board. This is very
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139 * minimal as most of the setup is performed in the startup code.
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141 static void prvSetupHardware( void );
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144 * The idle hook is just used to stream data to the USB port.
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146 void vApplicationIdleHook( void );
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147 /*-----------------------------------------------------------*/
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150 * Setup hardware then start all the demo application tasks.
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154 /* Setup the ports. */
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155 prvSetupHardware();
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157 /* Setup the IO required for the LED's. */
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158 vParTestInitialise();
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163 /* Create the lwIP task. This uses the lwIP RTOS abstraction layer.*/
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164 sys_thread_new( vBasicWEBServer, ( void * ) NULL, mainWEBSERVER_PRIORITY );
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166 /* Create the demo USB CDC task. */
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167 xTaskCreate( vUSBCDCTask, ( signed portCHAR * ) "USB", mainUSB_TASK_STACK, NULL, mainUSB_PRIORITY, NULL );
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169 /* Create the standard demo application tasks. */
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170 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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171 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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172 vStartLEDFlashTasks( mainFLASH_PRIORITY );
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173 vStartIntegerMathTasks( tskIDLE_PRIORITY );
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174 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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176 /* Start the check task - which is defined in this file. */
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177 xTaskCreate( vErrorChecks, ( signed portCHAR * ) "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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179 /* Finally, 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 here. */
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186 vTaskStartScheduler();
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188 /* Should never get here! */
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191 /*-----------------------------------------------------------*/
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194 static void prvSetupHardware( void )
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196 /* When using the JTAG debugger the hardware is not always initialised to
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197 the correct default state. This line just ensures that this does not
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198 cause all interrupts to be masked at the start. */
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199 AT91C_BASE_AIC->AIC_EOICR = 0;
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201 /* Most setup is performed by the low level init function called from the
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204 Configure the PIO Lines corresponding to LED1 to LED4 to be outputs as
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205 well as the UART Tx line. */
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206 AT91C_BASE_PIOB->PIO_PER = LED_MASK; // Set in PIO mode
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207 AT91C_BASE_PIOB->PIO_OER = LED_MASK; // Configure in Output
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210 /* Enable the peripheral clock. */
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211 AT91C_BASE_PMC->PMC_PCER = 1 << AT91C_ID_PIOA;
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212 AT91C_BASE_PMC->PMC_PCER = 1 << AT91C_ID_PIOB;
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213 AT91C_BASE_PMC->PMC_PCER = 1 << AT91C_ID_EMAC;
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215 /*-----------------------------------------------------------*/
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217 static void vErrorChecks( void *pvParameters )
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219 portTickType xDelayPeriod = mainNO_ERROR_FLASH_PERIOD;
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220 portTickType xLastWakeTime;
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222 /* The parameters are not used. */
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223 ( void ) pvParameters;
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225 /* Initialise xLastWakeTime to ensure the first call to vTaskDelayUntil()
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226 functions correctly. */
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227 xLastWakeTime = xTaskGetTickCount();
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229 /* Cycle for ever, delaying then checking all the other tasks are still
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230 operating without error. If an error is detected then the delay period
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231 is decreased from mainNO_ERROR_FLASH_PERIOD to mainERROR_FLASH_PERIOD so
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232 the Check LED flash rate will increase. */
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235 /* Delay until it is time to execute again. The delay period is
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236 shorter following an error. */
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237 vTaskDelayUntil( &xLastWakeTime, xDelayPeriod );
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239 /* Check all the standard demo application tasks are executing without
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241 if( prvCheckOtherTasksAreStillRunning() != pdPASS )
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243 /* An error has been detected in one of the tasks - flash faster. */
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244 xDelayPeriod = mainERROR_FLASH_PERIOD;
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247 vParTestToggleLED( mainCHECK_LED );
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250 /*-----------------------------------------------------------*/
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252 static portLONG prvCheckOtherTasksAreStillRunning( void )
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254 portLONG lReturn = ( portLONG ) pdPASS;
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256 /* Check all the demo tasks (other than the flash tasks) to ensure
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257 that they are all still running, and that none of them have detected
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260 if( xArePollingQueuesStillRunning() != pdTRUE )
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262 lReturn = ( portLONG ) pdFAIL;
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265 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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267 lReturn = ( portLONG ) pdFAIL;
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270 if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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272 lReturn = ( portLONG ) pdFAIL;
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275 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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277 lReturn = ( portLONG ) pdFAIL;
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282 /*-----------------------------------------------------------*/
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284 void vApplicationIdleHook( void )
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286 static portTickType xLastTx = 0;
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289 /* The idle hook simply sends a string of characters to the USB port.
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290 The characters will be buffered and sent once the port is connected. */
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291 if( ( xTaskGetTickCount() - xLastTx ) > mainUSB_TX_FREQUENCY )
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293 xLastTx = xTaskGetTickCount();
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294 for( cTxByte = mainFIRST_TX_CHAR; cTxByte <= mainLAST_TX_CHAR; cTxByte++ )
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296 vUSBSendByte( cTxByte );
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