2 FreeRTOS V6.0.0 - Copyright (C) 2009 Real Time Engineers Ltd.
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4 ***************************************************************************
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8 * + New to FreeRTOS, *
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9 * + Wanting to learn FreeRTOS or multitasking in general quickly *
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10 * + Looking for basic training, *
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11 * + Wanting to improve your FreeRTOS skills and productivity *
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13 * then take a look at the FreeRTOS eBook *
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15 * "Using the FreeRTOS Real Time Kernel - a Practical Guide" *
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16 * http://www.FreeRTOS.org/Documentation *
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18 * A pdf reference manual is also available. Both are usually delivered *
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19 * to your inbox within 20 minutes to two hours when purchased between 8am *
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20 * and 8pm GMT (although please allow up to 24 hours in case of *
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21 * exceptional circumstances). Thank you for your support! *
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23 ***************************************************************************
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25 This file is part of the FreeRTOS distribution.
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27 FreeRTOS is free software; you can redistribute it and/or modify it under
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28 the terms of the GNU General Public License (version 2) as published by the
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29 Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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30 ***NOTE*** The exception to the GPL is included to allow you to distribute
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31 a combined work that includes FreeRTOS without being obliged to provide the
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32 source code for proprietary components outside of the FreeRTOS kernel.
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33 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT
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34 ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
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35 FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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36 more details. You should have received a copy of the GNU General Public
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37 License and the FreeRTOS license exception along with FreeRTOS; if not it
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38 can be viewed here: http://www.freertos.org/a00114.html and also obtained
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39 by writing to Richard Barry, contact details for whom are available on the
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44 http://www.FreeRTOS.org - Documentation, latest information, license and
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47 http://www.SafeRTOS.com - A version that is certified for use in safety
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50 http://www.OpenRTOS.com - Commercial support, development, porting,
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51 licensing and training services.
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55 * Creates all the demo application tasks, then starts the scheduler. The WEB
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56 * documentation provides more details of the demo application tasks.
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58 * This demo is configured to execute on the ES449 prototyping board from
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59 * SoftBaugh. The ES449 has a built in LCD display and a single built in user
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60 * LED. Therefore, in place of flashing an LED, the 'flash' and 'check' tasks
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61 * toggle '*' characters on the LCD. The left most '*' represents LED 0, the
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64 * Main. c also creates a task called 'Check'. This only executes every three
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65 * seconds but has the highest priority so is guaranteed to get processor time.
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66 * Its main function is to check that all the other tasks are still operational.
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67 * Each task that does not flash an LED maintains a unique count that is
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68 * incremented each time the task successfully completes its function. Should
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69 * any error occur within such a task the count is permanently halted. The
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70 * 'check' task inspects the count of each task to ensure it has changed since
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71 * the last time the check task executed. If all the count variables have
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72 * changed all the tasks are still executing error free, and the check task
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73 * toggles an LED with a three second period. Should any task contain an error
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74 * at any time the LED toggle rate will increase to 500ms.
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76 * Please read the documentation for the MSP430 port available on
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77 * http://www.FreeRTOS.org.
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80 /* Standard includes. */
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83 /* Scheduler includes. */
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84 #include "FreeRTOS.h"
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87 /* Demo application includes. */
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88 #include "partest.h"
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90 #include "integer.h"
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91 #include "comtest2.h"
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94 /* Constants required for hardware setup. */
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95 #define mainALL_BITS_OUTPUT ( ( unsigned portCHAR ) 0xff )
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96 #define mainMAX_FREQUENCY ( ( unsigned portCHAR ) 121 )
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98 /* Constants that define the LED's used by the various tasks. [in this case
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99 the '*' characters on the LCD represent LED's] */
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100 #define mainCHECK_LED ( 4 )
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101 #define mainCOM_TEST_LED ( 10 )
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103 /* Demo task priorities. */
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104 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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105 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
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106 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
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107 #define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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109 /* Baud rate used by the COM test tasks. */
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110 #define mainCOM_TEST_BAUD_RATE ( ( unsigned portLONG ) 19200 )
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112 /* The frequency at which the 'Check' tasks executes. See the comments at the
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113 top of the page. When the system is operating error free the 'Check' task
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114 toggles an LED every three seconds. If an error is discovered in any task the
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115 rate is increased to 500 milliseconds. [in this case the '*' characters on the
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116 LCD represent LED's]*/
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117 #define mainNO_ERROR_CHECK_DELAY ( ( portTickType ) 3000 / portTICK_RATE_MS )
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118 #define mainERROR_CHECK_DELAY ( ( portTickType ) 500 / portTICK_RATE_MS )
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120 /* The constants used in the calculation. */
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121 #define intgCONST1 ( ( portLONG ) 123 )
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122 #define intgCONST2 ( ( portLONG ) 234567 )
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123 #define intgCONST3 ( ( portLONG ) -3 )
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124 #define intgCONST4 ( ( portLONG ) 7 )
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125 #define intgEXPECTED_ANSWER ( ( ( intgCONST1 + intgCONST2 ) * intgCONST3 ) / intgCONST4 )
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128 * The function that implements the Check task. See the comments at the head
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129 * of the page for implementation details.
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131 static void vErrorChecks( void *pvParameters );
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134 * Called by the Check task. Returns pdPASS if all the other tasks are found
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135 * to be operating without error - otherwise returns pdFAIL.
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137 static portSHORT prvCheckOtherTasksAreStillRunning( void );
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140 * Perform the hardware setup required by the ES449 in order to run the demo
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143 static void prvSetupHardware( void );
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146 portBASE_TYPE xLocalError = pdFALSE;
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147 volatile unsigned portLONG ulIdleLoops = 0UL;
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149 /*-----------------------------------------------------------*/
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152 * Start the demo application tasks - then start the real time scheduler.
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156 /* Setup the hardware ready for the demo. */
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157 prvSetupHardware();
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158 vParTestInitialise();
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160 /* Start the standard demo application tasks. */
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161 vStartLEDFlashTasks( mainLED_TASK_PRIORITY );
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162 vStartIntegerMathTasks( tskIDLE_PRIORITY );
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163 vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED - 1 );
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164 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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166 /* Start the 'Check' task which is defined in this file. */
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167 xTaskCreate( vErrorChecks, ( const signed portCHAR * const ) "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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169 /* Start the scheduler. */
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170 vTaskStartScheduler();
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172 /* As the scheduler has been started the demo applications tasks will be
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173 executing and we should never get here! */
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176 /*-----------------------------------------------------------*/
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178 static portTASK_FUNCTION( vErrorChecks, pvParameters )
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180 portTickType xDelayPeriod = mainNO_ERROR_CHECK_DELAY;
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182 /* Cycle for ever, delaying then checking all the other tasks are still
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183 operating without error. */
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186 /* Wait until it is time to check again. The time we wait here depends
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187 on whether an error has been detected or not. When an error is
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188 detected the time is shortened resulting in a faster LED flash rate. */
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189 vTaskDelay( xDelayPeriod );
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191 /* See if the other tasks are all ok. */
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192 if( prvCheckOtherTasksAreStillRunning() != pdPASS )
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194 /* An error occurred in one of the tasks so shorten the delay
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195 period - which has the effect of increasing the frequency of the
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197 xDelayPeriod = mainERROR_CHECK_DELAY;
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201 vParTestToggleLED( mainCHECK_LED );
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204 /*-----------------------------------------------------------*/
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206 static portSHORT prvCheckOtherTasksAreStillRunning( void )
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208 static portSHORT sNoErrorFound = pdTRUE;
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209 static unsigned portLONG ulLastIdleLoopCount = 0UL;
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211 /* The demo tasks maintain a count that increments every cycle of the task
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212 provided that the task has never encountered an error. This function
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213 checks the counts maintained by the tasks to ensure they are still being
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214 incremented. A count remaining at the same value between calls therefore
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215 indicates that an error has been detected. Only tasks that do not flash
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216 an LED are checked. */
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218 if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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220 sNoErrorFound = pdFALSE;
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223 if( xAreComTestTasksStillRunning() != pdTRUE )
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225 sNoErrorFound = pdFALSE;
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228 if( xArePollingQueuesStillRunning() != pdTRUE )
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230 sNoErrorFound = pdFALSE;
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233 if( xLocalError == pdTRUE )
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235 sNoErrorFound = pdFALSE;
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238 if( ulIdleLoops == ulLastIdleLoopCount )
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240 sNoErrorFound = pdFALSE;
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244 ulLastIdleLoopCount = ulIdleLoops;
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247 return sNoErrorFound;
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249 /*-----------------------------------------------------------*/
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251 static void prvSetupHardware( void )
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253 /* Stop the watchdog. */
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254 WDTCTL = WDTPW + WDTHOLD;
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256 /* Setup DCO+ for ( xtal * D * (N + 1) ) operation. */
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257 FLL_CTL0 |= DCOPLUS + XCAP18PF;
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259 /* X2 DCO frequency, 8MHz nominal DCO */
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262 /* (121+1) x 32768 x 2 = 7.99 Mhz */
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263 SCFQCTL = mainMAX_FREQUENCY;
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265 /* Setup the IO. This is just copied from the demo supplied by SoftBaugh
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266 for the ES449 demo board. */
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273 /*-----------------------------------------------------------*/
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275 /* The idle hook is just a copy of the standard integer maths tasks. See
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276 Demo/Common/integer.c for rationale. */
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278 void vApplicationIdleHook( void )
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280 /* These variables are all effectively set to constants so they are volatile to
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281 ensure the compiler does not just get rid of them. */
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282 volatile portLONG lValue;
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284 /* Keep performing a calculation and checking the result against a constant. */
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287 /* Perform the calculation. This will store partial value in
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288 registers, resulting in a good test of the context switch mechanism. */
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289 lValue = intgCONST1;
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290 lValue += intgCONST2;
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292 /* Yield in case cooperative scheduling is being used. */
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293 #if configUSE_PREEMPTION == 0
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299 /* Finish off the calculation. */
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300 lValue *= intgCONST3;
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301 lValue /= intgCONST4;
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303 /* If the calculation is found to be incorrect we stop setting the
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304 TaskHasExecuted variable so the check task can see an error has
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306 if( lValue != intgEXPECTED_ANSWER ) /*lint !e774 volatile used to prevent this being optimised out. */
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308 /* Don't bother with mutual exclusion - it is only read from the
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309 check task and never written. */
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310 xLocalError = pdTRUE;
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312 /* Yield in case cooperative scheduling is being used. */
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313 #if configUSE_PREEMPTION == 0
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321 /* Place the processor into low power mode. */
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