2 FreeRTOS V5.4.1 - Copyright (C) 2009 Real Time Engineers Ltd.
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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 * Creates all the demo application tasks, then starts the scheduler. The WEB
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50 * documentation provides more details of the demo application tasks.
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52 * This demo is configured to execute on the ES449 prototyping board from
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53 * SoftBaugh. The ES449 has a built in LCD display and a single built in user
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54 * LED. Therefore, in place of flashing an LED, the 'flash' and 'check' tasks
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55 * toggle '*' characters on the LCD. The left most '*' represents LED 0, the
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58 * Main. c also creates a task called 'Check'. This only executes every three
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59 * seconds but has the highest priority so is guaranteed to get processor time.
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60 * Its main function is to check that all the other tasks are still operational.
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61 * Each task that does not flash an LED maintains a unique count that is
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62 * incremented each time the task successfully completes its function. Should
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63 * any error occur within such a task the count is permanently halted. The
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64 * 'check' task inspects the count of each task to ensure it has changed since
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65 * the last time the check task executed. If all the count variables have
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66 * changed all the tasks are still executing error free, and the check task
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67 * toggles an LED with a three second period. Should any task contain an error
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68 * at any time the LED toggle rate will increase to 500ms.
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70 * Please read the documentation for the MSP430 port available on
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71 * http://www.FreeRTOS.org.
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74 /* Standard 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 "integer.h"
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85 #include "comtest2.h"
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88 /* Constants required for hardware setup. */
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89 #define mainALL_BITS_OUTPUT ( ( unsigned portCHAR ) 0xff )
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90 #define mainMAX_FREQUENCY ( ( unsigned portCHAR ) 121 )
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92 /* Constants that define the LED's used by the various tasks. [in this case
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93 the '*' characters on the LCD represent LED's] */
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94 #define mainCHECK_LED ( 4 )
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95 #define mainCOM_TEST_LED ( 10 )
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97 /* Demo task priorities. */
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98 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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99 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
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100 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
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101 #define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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103 /* Baud rate used by the COM test tasks. */
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104 #define mainCOM_TEST_BAUD_RATE ( ( unsigned portLONG ) 19200 )
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106 /* The frequency at which the 'Check' tasks executes. See the comments at the
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107 top of the page. When the system is operating error free the 'Check' task
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108 toggles an LED every three seconds. If an error is discovered in any task the
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109 rate is increased to 500 milliseconds. [in this case the '*' characters on the
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110 LCD represent LED's]*/
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111 #define mainNO_ERROR_CHECK_DELAY ( ( portTickType ) 3000 / portTICK_RATE_MS )
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112 #define mainERROR_CHECK_DELAY ( ( portTickType ) 500 / portTICK_RATE_MS )
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114 /* The constants used in the calculation. */
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115 #define intgCONST1 ( ( portLONG ) 123 )
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116 #define intgCONST2 ( ( portLONG ) 234567 )
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117 #define intgCONST3 ( ( portLONG ) -3 )
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118 #define intgCONST4 ( ( portLONG ) 7 )
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119 #define intgEXPECTED_ANSWER ( ( ( intgCONST1 + intgCONST2 ) * intgCONST3 ) / intgCONST4 )
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122 * The function that implements the Check task. See the comments at the head
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123 * of the page for implementation details.
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125 static void vErrorChecks( void *pvParameters );
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128 * Called by the Check task. Returns pdPASS if all the other tasks are found
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129 * to be operating without error - otherwise returns pdFAIL.
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131 static portSHORT prvCheckOtherTasksAreStillRunning( void );
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134 * Perform the hardware setup required by the ES449 in order to run the demo
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137 static void prvSetupHardware( void );
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140 portBASE_TYPE xLocalError = pdFALSE;
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141 volatile unsigned portLONG ulIdleLoops = 0UL;
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143 /*-----------------------------------------------------------*/
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146 * Start the demo application tasks - then start the real time scheduler.
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150 /* Setup the hardware ready for the demo. */
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151 prvSetupHardware();
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152 vParTestInitialise();
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154 /* Start the standard demo application tasks. */
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155 vStartLEDFlashTasks( mainLED_TASK_PRIORITY );
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156 vStartIntegerMathTasks( tskIDLE_PRIORITY );
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157 vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED - 1 );
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158 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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160 /* Start the 'Check' task which is defined in this file. */
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161 xTaskCreate( vErrorChecks, ( const signed portCHAR * const ) "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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163 /* Start the scheduler. */
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164 vTaskStartScheduler();
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166 /* As the scheduler has been started the demo applications tasks will be
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167 executing and we should never get here! */
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170 /*-----------------------------------------------------------*/
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172 static portTASK_FUNCTION( vErrorChecks, pvParameters )
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174 portTickType xDelayPeriod = mainNO_ERROR_CHECK_DELAY;
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176 /* Cycle for ever, delaying then checking all the other tasks are still
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177 operating without error. */
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180 /* Wait until it is time to check again. The time we wait here depends
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181 on whether an error has been detected or not. When an error is
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182 detected the time is shortened resulting in a faster LED flash rate. */
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183 vTaskDelay( xDelayPeriod );
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185 /* See if the other tasks are all ok. */
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186 if( prvCheckOtherTasksAreStillRunning() != pdPASS )
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188 /* An error occurred in one of the tasks so shorten the delay
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189 period - which has the effect of increasing the frequency of the
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191 xDelayPeriod = mainERROR_CHECK_DELAY;
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195 vParTestToggleLED( mainCHECK_LED );
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198 /*-----------------------------------------------------------*/
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200 static portSHORT prvCheckOtherTasksAreStillRunning( void )
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202 static portSHORT sNoErrorFound = pdTRUE;
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203 static unsigned portLONG ulLastIdleLoopCount = 0UL;
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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 if( ulIdleLoops == ulLastIdleLoopCount )
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234 sNoErrorFound = pdFALSE;
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238 ulLastIdleLoopCount = ulIdleLoops;
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241 return sNoErrorFound;
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243 /*-----------------------------------------------------------*/
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245 static void prvSetupHardware( void )
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247 /* Stop the watchdog. */
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248 WDTCTL = WDTPW + WDTHOLD;
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250 /* Setup DCO+ for ( xtal * D * (N + 1) ) operation. */
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251 FLL_CTL0 |= DCOPLUS + XCAP18PF;
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253 /* X2 DCO frequency, 8MHz nominal DCO */
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256 /* (121+1) x 32768 x 2 = 7.99 Mhz */
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257 SCFQCTL = mainMAX_FREQUENCY;
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259 /* Setup the IO. This is just copied from the demo supplied by SoftBaugh
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260 for the ES449 demo board. */
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267 /*-----------------------------------------------------------*/
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269 /* The idle hook is just a copy of the standard integer maths tasks. See
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270 Demo/Common/integer.c for rationale. */
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272 void vApplicationIdleHook( void ) __toplevel
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274 /* These variables are all effectively set to constants so they are volatile to
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275 ensure the compiler does not just get rid of them. */
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276 volatile portLONG lValue;
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277 volatile signed portBASE_TYPE *pxTaskHasExecuted;
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279 /* Keep performing a calculation and checking the result against a constant. */
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282 /* Perform the calculation. This will store partial value in
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283 registers, resulting in a good test of the context switch mechanism. */
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284 lValue = intgCONST1;
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285 lValue += intgCONST2;
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287 /* Yield in case cooperative scheduling is being used. */
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288 #if configUSE_PREEMPTION == 0
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294 /* Finish off the calculation. */
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295 lValue *= intgCONST3;
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296 lValue /= intgCONST4;
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298 /* If the calculation is found to be incorrect we stop setting the
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299 TaskHasExecuted variable so the check task can see an error has
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301 if( lValue != intgEXPECTED_ANSWER ) /*lint !e774 volatile used to prevent this being optimised out. */
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303 /* Don't bother with mutual exclusion - it is only read from the
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304 check task and never written. */
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305 xLocalError = pdTRUE;
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307 /* Yield in case cooperative scheduling is being used. */
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308 #if configUSE_PREEMPTION == 0
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316 /* Place the processor into low power mode. */
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