2 FreeRTOS.org V5.0.3 - Copyright (C) 2003-2008 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 ***************************************************************************
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29 * SAVE TIME AND MONEY! We can port FreeRTOS.org to your own hardware, *
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30 * and even write all or part of your application on your behalf. *
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31 * See http://www.OpenRTOS.com for details of the services we provide to *
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32 * expedite your project. *
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34 ***************************************************************************
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35 ***************************************************************************
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37 Please ensure to read the configuration and relevant port sections of the
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38 online documentation.
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40 http://www.FreeRTOS.org - Documentation, latest information, license and
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43 http://www.SafeRTOS.com - A version that is certified for use in safety
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46 http://www.OpenRTOS.com - Commercial support, development, porting,
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47 licensing and training services.
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51 * Creates all the demo application tasks, then starts the scheduler. The WEB
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52 * documentation provides more details of the demo application tasks.
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54 * This demo is configured to execute on the ES449 prototyping board from
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55 * SoftBaugh. The ES449 has a built in LCD display and a single built in user
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56 * LED. Therefore, in place of flashing an LED, the 'flash' and 'check' tasks
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57 * toggle '*' characters on the LCD. The left most '*' represents LED 0, the
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60 * Main. c also creates a task called 'Check'. This only executes every three
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61 * seconds but has the highest priority so is guaranteed to get processor time.
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62 * Its main function is to check that all the other tasks are still operational.
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63 * Each task that does not flash an LED maintains a unique count that is
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64 * incremented each time the task successfully completes its function. Should
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65 * any error occur within such a task the count is permanently halted. The
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66 * 'check' task inspects the count of each task to ensure it has changed since
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67 * the last time the check task executed. If all the count variables have
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68 * changed all the tasks are still executing error free, and the check task
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69 * toggles an LED with a three second period. Should any task contain an error
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70 * at any time the LED toggle rate will increase to 500ms.
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72 * Please read the documentation for the MSP430 port available on
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73 * http://www.FreeRTOS.org.
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76 /* Standard includes. */
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79 /* Scheduler includes. */
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80 #include "FreeRTOS.h"
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83 /* Demo application includes. */
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84 #include "partest.h"
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86 #include "integer.h"
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87 #include "comtest2.h"
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90 /* Constants required for hardware setup. */
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91 #define mainALL_BITS_OUTPUT ( ( unsigned portCHAR ) 0xff )
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92 #define mainMAX_FREQUENCY ( ( unsigned portCHAR ) 121 )
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94 /* Constants that define the LED's used by the various tasks. [in this case
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95 the '*' characters on the LCD represent LED's] */
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96 #define mainCHECK_LED ( 4 )
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97 #define mainCOM_TEST_LED ( 10 )
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99 /* Demo task priorities. */
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100 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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101 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
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102 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
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103 #define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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105 /* Baud rate used by the COM test tasks. */
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106 #define mainCOM_TEST_BAUD_RATE ( ( unsigned portLONG ) 19200 )
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108 /* The frequency at which the 'Check' tasks executes. See the comments at the
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109 top of the page. When the system is operating error free the 'Check' task
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110 toggles an LED every three seconds. If an error is discovered in any task the
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111 rate is increased to 500 milliseconds. [in this case the '*' characters on the
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112 LCD represent LED's]*/
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113 #define mainNO_ERROR_CHECK_DELAY ( ( portTickType ) 3000 / portTICK_RATE_MS )
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114 #define mainERROR_CHECK_DELAY ( ( portTickType ) 500 / portTICK_RATE_MS )
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116 /* The constants used in the calculation. */
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117 #define intgCONST1 ( ( portLONG ) 123 )
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118 #define intgCONST2 ( ( portLONG ) 234567 )
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119 #define intgCONST3 ( ( portLONG ) -3 )
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120 #define intgCONST4 ( ( portLONG ) 7 )
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121 #define intgEXPECTED_ANSWER ( ( ( intgCONST1 + intgCONST2 ) * intgCONST3 ) / intgCONST4 )
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124 * The function that implements the Check task. See the comments at the head
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125 * of the page for implementation details.
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127 static void vErrorChecks( void *pvParameters );
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130 * Called by the Check task. Returns pdPASS if all the other tasks are found
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131 * to be operating without error - otherwise returns pdFAIL.
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133 static portSHORT prvCheckOtherTasksAreStillRunning( void );
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136 * Perform the hardware setup required by the ES449 in order to run the demo
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139 static void prvSetupHardware( void );
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142 portBASE_TYPE xLocalError = pdFALSE;
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144 /*-----------------------------------------------------------*/
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147 * Start the demo application tasks - then start the real time scheduler.
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151 /* Setup the hardware ready for the demo. */
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152 prvSetupHardware();
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153 vParTestInitialise();
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155 /* Start the standard demo application tasks. */
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156 vStartLEDFlashTasks( mainLED_TASK_PRIORITY );
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157 vStartIntegerMathTasks( tskIDLE_PRIORITY );
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158 vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED - 1 );
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159 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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161 /* Start the 'Check' task which is defined in this file. */
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162 xTaskCreate( vErrorChecks, ( const signed portCHAR * const ) "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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164 /* Start the scheduler. */
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165 vTaskStartScheduler();
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167 /* As the scheduler has been started the demo applications tasks will be
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168 executing and we should never get here! */
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171 /*-----------------------------------------------------------*/
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173 static portTASK_FUNCTION( vErrorChecks, pvParameters )
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175 portTickType xDelayPeriod = mainNO_ERROR_CHECK_DELAY;
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177 /* Cycle for ever, delaying then checking all the other tasks are still
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178 operating without error. */
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181 /* Wait until it is time to check again. The time we wait here depends
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182 on whether an error has been detected or not. When an error is
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183 detected the time is shortened resulting in a faster LED flash rate. */
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184 vTaskDelay( xDelayPeriod );
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186 /* See if the other tasks are all ok. */
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187 if( prvCheckOtherTasksAreStillRunning() != pdPASS )
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189 /* An error occurred in one of the tasks so shorten the delay
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190 period - which has the effect of increasing the frequency of the
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192 xDelayPeriod = mainERROR_CHECK_DELAY;
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196 vParTestToggleLED( mainCHECK_LED );
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199 /*-----------------------------------------------------------*/
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201 static portSHORT prvCheckOtherTasksAreStillRunning( void )
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203 static portSHORT sNoErrorFound = pdTRUE;
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205 /* The demo tasks maintain a count that increments every cycle of the task
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206 provided that the task has never encountered an error. This function
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207 checks the counts maintained by the tasks to ensure they are still being
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208 incremented. A count remaining at the same value between calls therefore
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209 indicates that an error has been detected. Only tasks that do not flash
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210 an LED are checked. */
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212 if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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214 sNoErrorFound = pdFALSE;
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217 if( xAreComTestTasksStillRunning() != pdTRUE )
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219 sNoErrorFound = pdFALSE;
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222 if( xArePollingQueuesStillRunning() != pdTRUE )
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224 sNoErrorFound = pdFALSE;
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227 if( xLocalError == pdTRUE )
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229 sNoErrorFound = pdFALSE;
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232 return sNoErrorFound;
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234 /*-----------------------------------------------------------*/
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236 static void prvSetupHardware( void )
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238 /* Stop the watchdog. */
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239 WDTCTL = WDTPW + WDTHOLD;
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241 /* Setup DCO+ for ( xtal * D * (N + 1) ) operation. */
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242 FLL_CTL0 |= DCOPLUS + XCAP18PF;
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244 /* X2 DCO frequency, 8MHz nominal DCO */
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247 /* (121+1) x 32768 x 2 = 7.99 Mhz */
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248 SCFQCTL = mainMAX_FREQUENCY;
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250 /* Setup the IO. This is just copied from the demo supplied by SoftBaugh
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251 for the ES449 demo board. */
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258 /*-----------------------------------------------------------*/
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260 /* The idle hook is just a copy of the standard integer maths tasks. See
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261 Demo/Common/integer.c for rationale. */
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263 void vApplicationIdleHook( void ) __toplevel
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265 /* These variables are all effectively set to constants so they are volatile to
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266 ensure the compiler does not just get rid of them. */
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267 volatile portLONG lValue;
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268 volatile signed portBASE_TYPE *pxTaskHasExecuted;
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270 /* Keep performing a calculation and checking the result against a constant. */
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273 /* Perform the calculation. This will store partial value in
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274 registers, resulting in a good test of the context switch mechanism. */
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275 lValue = intgCONST1;
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276 lValue += intgCONST2;
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278 /* Yield in case cooperative scheduling is being used. */
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279 #if configUSE_PREEMPTION == 0
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285 /* Finish off the calculation. */
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286 lValue *= intgCONST3;
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287 lValue /= intgCONST4;
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289 /* If the calculation is found to be incorrect we stop setting the
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290 TaskHasExecuted variable so the check task can see an error has
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292 if( lValue != intgEXPECTED_ANSWER ) /*lint !e774 volatile used to prevent this being optimised out. */
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294 /* Don't bother with mutual exclusion - it is only read from the
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295 check task and never written. */
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296 xLocalError = pdTRUE;
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298 /* Yield in case cooperative scheduling is being used. */
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299 #if configUSE_PREEMPTION == 0
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