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, then starts the scheduler. The WEB
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39 * documentation provides more details of the demo application tasks.
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41 * This demo is configured to execute on the ES449 prototyping board from
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42 * SoftBaugh. The ES449 has a built in LCD display and a single built in user
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43 * LED. Therefore, in place of flashing an LED, the 'flash' and 'check' tasks
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44 * toggle '*' characters on the LCD. The left most '*' represents LED 0, the
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47 * Main. c also creates a task called 'Check'. This only executes every three
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48 * seconds but has the highest priority so is guaranteed to get processor time.
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49 * Its main function is to check that all the other tasks are still operational.
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50 * Each task that does not flash an LED maintains a unique count that is
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51 * incremented each time the task successfully completes its function. Should
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52 * any error occur within such a task the count is permanently halted. The
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53 * 'check' task inspects the count of each task to ensure it has changed since
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54 * the last time the check task executed. If all the count variables have
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55 * changed all the tasks are still executing error free, and the check task
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56 * toggles an LED with a three second period. Should any task contain an error
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57 * at any time the LED toggle rate will increase to 500ms.
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59 * Please read the documentation for the MSP430 port available on
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60 * http://www.FreeRTOS.org.
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63 /* Standard includes. */
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66 /* Scheduler includes. */
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67 #include "FreeRTOS.h"
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70 /* Demo application includes. */
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71 #include "partest.h"
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73 #include "integer.h"
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74 #include "comtest2.h"
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77 /* Constants required for hardware setup. */
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78 #define mainALL_BITS_OUTPUT ( ( unsigned portCHAR ) 0xff )
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79 #define mainMAX_FREQUENCY ( ( unsigned portCHAR ) 121 )
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81 /* Constants that define the LED's used by the various tasks. [in this case
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82 the '*' characters on the LCD represent LED's] */
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83 #define mainCHECK_LED ( 4 )
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84 #define mainCOM_TEST_LED ( 10 )
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86 /* Demo task priorities. */
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87 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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88 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
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89 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
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90 #define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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92 /* Baud rate used by the COM test tasks. */
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93 #define mainCOM_TEST_BAUD_RATE ( ( unsigned portLONG ) 19200 )
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95 /* The frequency at which the 'Check' tasks executes. See the comments at the
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96 top of the page. When the system is operating error free the 'Check' task
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97 toggles an LED every three seconds. If an error is discovered in any task the
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98 rate is increased to 500 milliseconds. [in this case the '*' characters on the
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99 LCD represent LED's]*/
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100 #define mainNO_ERROR_CHECK_DELAY ( ( portTickType ) 3000 / portTICK_RATE_MS )
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101 #define mainERROR_CHECK_DELAY ( ( portTickType ) 500 / portTICK_RATE_MS )
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103 /* The constants used in the calculation. */
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104 #define intgCONST1 ( ( portLONG ) 123 )
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105 #define intgCONST2 ( ( portLONG ) 234567 )
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106 #define intgCONST3 ( ( portLONG ) -3 )
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107 #define intgCONST4 ( ( portLONG ) 7 )
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108 #define intgEXPECTED_ANSWER ( ( ( intgCONST1 + intgCONST2 ) * intgCONST3 ) / intgCONST4 )
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111 * The function that implements the Check task. See the comments at the head
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112 * of the page for implementation details.
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114 static void vErrorChecks( void *pvParameters );
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117 * Called by the Check task. Returns pdPASS if all the other tasks are found
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118 * to be operating without error - otherwise returns pdFAIL.
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120 static portSHORT prvCheckOtherTasksAreStillRunning( void );
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123 * Perform the hardware setup required by the ES449 in order to run the demo
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126 static void prvSetupHardware( void );
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129 portBASE_TYPE xLocalError = pdFALSE;
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131 /*-----------------------------------------------------------*/
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134 * Start the demo application tasks - then start the real time scheduler.
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138 /* Setup the hardware ready for the demo. */
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139 prvSetupHardware();
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140 vParTestInitialise();
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142 /* Start the standard demo application tasks. */
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143 vStartLEDFlashTasks( mainLED_TASK_PRIORITY );
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144 vStartIntegerMathTasks( tskIDLE_PRIORITY );
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145 vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED - 1 );
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146 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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148 /* Start the 'Check' task which is defined in this file. */
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149 xTaskCreate( vErrorChecks, ( const signed portCHAR * const ) "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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151 /* Start the scheduler. */
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152 vTaskStartScheduler();
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154 /* As the scheduler has been started the demo applications tasks will be
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155 executing and we should never get here! */
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158 /*-----------------------------------------------------------*/
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160 static portTASK_FUNCTION( vErrorChecks, pvParameters )
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162 portTickType xDelayPeriod = mainNO_ERROR_CHECK_DELAY;
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164 /* Cycle for ever, delaying then checking all the other tasks are still
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165 operating without error. */
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168 /* Wait until it is time to check again. The time we wait here depends
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169 on whether an error has been detected or not. When an error is
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170 detected the time is shortened resulting in a faster LED flash rate. */
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171 vTaskDelay( xDelayPeriod );
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173 /* See if the other tasks are all ok. */
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174 if( prvCheckOtherTasksAreStillRunning() != pdPASS )
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176 /* An error occurred in one of the tasks so shorten the delay
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177 period - which has the effect of increasing the frequency of the
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179 xDelayPeriod = mainERROR_CHECK_DELAY;
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183 vParTestToggleLED( mainCHECK_LED );
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186 /*-----------------------------------------------------------*/
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188 static portSHORT prvCheckOtherTasksAreStillRunning( void )
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190 static portSHORT sNoErrorFound = pdTRUE;
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192 /* The demo tasks maintain a count that increments every cycle of the task
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193 provided that the task has never encountered an error. This function
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194 checks the counts maintained by the tasks to ensure they are still being
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195 incremented. A count remaining at the same value between calls therefore
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196 indicates that an error has been detected. Only tasks that do not flash
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197 an LED are checked. */
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199 if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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201 sNoErrorFound = pdFALSE;
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204 if( xAreComTestTasksStillRunning() != pdTRUE )
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206 sNoErrorFound = pdFALSE;
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209 if( xArePollingQueuesStillRunning() != pdTRUE )
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211 sNoErrorFound = pdFALSE;
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214 if( xLocalError == pdTRUE )
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216 sNoErrorFound = pdFALSE;
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219 return sNoErrorFound;
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221 /*-----------------------------------------------------------*/
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223 static void prvSetupHardware( void )
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225 /* Stop the watchdog. */
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226 WDTCTL = WDTPW + WDTHOLD;
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228 /* Setup DCO+ for ( xtal * D * (N + 1) ) operation. */
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229 FLL_CTL0 |= DCOPLUS + XCAP18PF;
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231 /* X2 DCO frequency, 8MHz nominal DCO */
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234 /* (121+1) x 32768 x 2 = 7.99 Mhz */
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235 SCFQCTL = mainMAX_FREQUENCY;
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237 /* Setup the IO. This is just copied from the demo supplied by SoftBaugh
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238 for the ES449 demo board. */
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245 /*-----------------------------------------------------------*/
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247 /* The idle hook is just a copy of the standard integer maths tasks. See
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248 Demo/Common/integer.c for rationale. */
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250 void vApplicationIdleHook( void ) __toplevel
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252 /* These variables are all effectively set to constants so they are volatile to
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253 ensure the compiler does not just get rid of them. */
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254 volatile portLONG lValue;
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255 volatile signed portBASE_TYPE *pxTaskHasExecuted;
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257 /* Keep performing a calculation and checking the result against a constant. */
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260 /* Perform the calculation. This will store partial value in
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261 registers, resulting in a good test of the context switch mechanism. */
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262 lValue = intgCONST1;
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263 lValue += intgCONST2;
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265 /* Yield in case cooperative scheduling is being used. */
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266 #if configUSE_PREEMPTION == 0
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272 /* Finish off the calculation. */
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273 lValue *= intgCONST3;
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274 lValue /= intgCONST4;
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276 /* If the calculation is found to be incorrect we stop setting the
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277 TaskHasExecuted variable so the check task can see an error has
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279 if( lValue != intgEXPECTED_ANSWER ) /*lint !e774 volatile used to prevent this being optimised out. */
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281 /* Don't bother with mutual exclusion - it is only read from the
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282 check task and never written. */
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283 xLocalError = pdTRUE;
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285 /* Yield in case cooperative scheduling is being used. */
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286 #if configUSE_PREEMPTION == 0
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