2 FreeRTOS V8.1.2 - Copyright (C) 2014 Real Time Engineers Ltd.
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5 VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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7 ***************************************************************************
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9 * FreeRTOS provides completely free yet professionally developed, *
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10 * robust, strictly quality controlled, supported, and cross *
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11 * platform software that has become a de facto standard. *
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13 * Help yourself get started quickly and support the FreeRTOS *
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14 * project by purchasing a FreeRTOS tutorial book, reference *
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15 * manual, or both from: http://www.FreeRTOS.org/Documentation *
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19 ***************************************************************************
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21 This file is part of the FreeRTOS distribution.
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23 FreeRTOS is free software; you can redistribute it and/or modify it under
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24 the terms of the GNU General Public License (version 2) as published by the
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25 Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
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27 >>! NOTE: The modification to the GPL is included to allow you to !<<
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28 >>! distribute a combined work that includes FreeRTOS without being !<<
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29 >>! obliged to provide the source code for proprietary components !<<
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30 >>! outside of the FreeRTOS kernel. !<<
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32 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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33 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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34 FOR A PARTICULAR PURPOSE. Full license text is available from the following
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35 link: http://www.freertos.org/a00114.html
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39 ***************************************************************************
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41 * Having a problem? Start by reading the FAQ "My application does *
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42 * not run, what could be wrong?" *
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44 * http://www.FreeRTOS.org/FAQHelp.html *
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46 ***************************************************************************
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48 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
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49 license and Real Time Engineers Ltd. contact details.
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51 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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52 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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53 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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55 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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56 Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS
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57 licenses offer ticketed support, indemnification and middleware.
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59 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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60 engineered and independently SIL3 certified version for use in safety and
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61 mission critical applications that require provable dependability.
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66 /******************************************************************************
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67 * NOTE 1: This project provides two demo applications. A simple blinky style
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68 * project, and a more comprehensive test and demo application. The
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69 * mainCREATE_SIMPLE_BLINKY_DEMO_ONLY setting in main.c is used to select
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70 * between the two. See the notes on using mainCREATE_SIMPLE_BLINKY_DEMO_ONLY
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71 * in main.c. This file implements the comprehensive test and demo version.
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73 * NOTE 2: This file only contains the source code that is specific to the
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74 * full demo. Generic functions, such FreeRTOS hook functions, and functions
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75 * required to configure the hardware, are defined in main.c.
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77 ******************************************************************************
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79 * main_full() creates all the demo application tasks and software timers, then
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80 * starts the scheduler. The web documentation provides more details of the
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81 * standard demo application tasks, which provide no particular functionality,
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82 * but do provide a good example of how to use the FreeRTOS API.
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84 * In addition to the standard demo tasks, the following tasks and tests are
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85 * defined and/or created within this file:
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87 * "FreeRTOS+CLI command console" - The command console is access using the USB
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88 * CDC driver provided by Atmel. It is accessed through the USB connector
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89 * marked J6 SAMA5D3 Xplained board. Type "help" to see a list of registered
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90 * commands. The FreeRTOS+CLI license is different to the FreeRTOS license, see
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91 * http://www.FreeRTOS.org/cli for license and usage details. The default baud
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94 * "Reg test" tasks - These fill both the core and floating point registers with
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95 * known values, then check that each register maintains its expected value for
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96 * the lifetime of the task. Each task uses a different set of values. The reg
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97 * test tasks execute with a very low priority, so get preempted very
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98 * frequently. A register containing an unexpected value is indicative of an
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99 * error in the context switching mechanism.
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101 * "Check" task - The check task period is initially set to three seconds. The
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102 * task checks that all the standard demo tasks, and the register check tasks,
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103 * are not only still executing, but are executing without reporting any errors.
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104 * If the check task discovers that a task has either stalled, or reported an
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105 * error, then it changes its own execution period from the initial three
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106 * seconds, to just 200ms. The check task also toggles an LED each time it is
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107 * called. This provides a visual indication of the system status: If the LED
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108 * toggles every three seconds, then no issues have been discovered. If the LED
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109 * toggles every 200ms, then an issue has been discovered with at least one
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113 /* Standard includes. */
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116 /* Kernel includes. */
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117 #include "FreeRTOS.h"
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119 #include "timers.h"
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120 #include "semphr.h"
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122 /* Standard demo application includes. */
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124 #include "semtest.h"
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125 #include "dynamic.h"
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126 #include "BlockQ.h"
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127 #include "blocktim.h"
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128 #include "countsem.h"
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129 #include "GenQTest.h"
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130 #include "recmutex.h"
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132 #include "partest.h"
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133 #include "comtest2.h"
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134 #include "serial.h"
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135 #include "TimerDemo.h"
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136 #include "QueueOverwrite.h"
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137 #include "IntQueue.h"
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138 #include "EventGroupsDemo.h"
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140 /* Priorities for the demo application tasks. */
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141 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1UL )
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142 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2UL )
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143 #define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3UL )
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144 #define mainFLOP_TASK_PRIORITY ( tskIDLE_PRIORITY )
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145 #define mainCDC_COMMAND_CONSOLE_STACK_SIZE ( configMINIMAL_STACK_SIZE * 2UL )
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146 #define mainCOM_TEST_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
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147 #define mainCHECK_TASK_PRIORITY ( configMAX_PRIORITIES - 1 )
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148 #define mainQUEUE_OVERWRITE_PRIORITY ( tskIDLE_PRIORITY )
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150 /* The initial priority used by the UART command console task. */
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151 #define mainUART_COMMAND_CONSOLE_TASK_PRIORITY ( configMAX_PRIORITIES - 2 )
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153 /* The LED used by the check timer. */
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154 #define mainCHECK_LED ( 0 )
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156 /* A block time of zero simply means "don't block". */
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157 #define mainDONT_BLOCK ( 0UL )
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159 /* The period after which the check timer will expire, in ms, provided no errors
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160 have been reported by any of the standard demo tasks. ms are converted to the
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161 equivalent in ticks using the portTICK_PERIOD_MS constant. */
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162 #define mainNO_ERROR_CHECK_TASK_PERIOD ( 3000UL / portTICK_PERIOD_MS )
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164 /* The period at which the check timer will expire, in ms, if an error has been
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165 reported in one of the standard demo tasks. ms are converted to the equivalent
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166 in ticks using the portTICK_PERIOD_MS constant. */
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167 #define mainERROR_CHECK_TASK_PERIOD ( 200UL / portTICK_PERIOD_MS )
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169 /* Parameters that are passed into the register check tasks solely for the
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170 purpose of ensuring parameters are passed into tasks correctly. */
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171 #define mainREG_TEST_TASK_1_PARAMETER ( ( void * ) 0x12345678 )
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172 #define mainREG_TEST_TASK_2_PARAMETER ( ( void * ) 0x87654321 )
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174 /* The base period used by the timer test tasks. */
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175 #define mainTIMER_TEST_PERIOD ( 50 )
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177 /*-----------------------------------------------------------*/
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180 * Called by main() to run the full demo (as opposed to the blinky demo) when
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181 * mainCREATE_SIMPLE_BLINKY_DEMO_ONLY is set to 0.
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183 void main_full( void );
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186 * The check task, as described at the top of this file.
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188 static void prvCheckTask( void *pvParameters );
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191 * Register check tasks, and the tasks used to write over and check the contents
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192 * of the FPU registers, as described at the top of this file. The nature of
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193 * these files necessitates that they are written in an assembly file, but the
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194 * entry points are kept in the C file for the convenience of checking the task
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197 static void prvRegTestTaskEntry1( void *pvParameters );
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198 extern void vRegTest1Implementation( void );
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199 static void prvRegTestTaskEntry2( void *pvParameters );
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200 extern void vRegTest2Implementation( void );
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203 * Register commands that can be used with FreeRTOS+CLI. The commands are
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204 * defined in CLI-Commands.c and File-Related-CLI-Command.c respectively.
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206 extern void vRegisterSampleCLICommands( void );
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209 * The task that manages the FreeRTOS+CLI input and output.
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211 extern void vUSBCommandConsoleStart( uint16_t usStackSize, UBaseType_t uxPriority );
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214 * A high priority task that does nothing other than execute at a pseudo random
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215 * time to ensure the other test tasks don't just execute in a repeating
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218 static void prvPseudoRandomiser( void *pvParameters );
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220 /*-----------------------------------------------------------*/
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222 /* The following two variables are used to communicate the status of the
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223 register check tasks to the check task. If the variables keep incrementing,
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224 then the register check tasks has not discovered any errors. If a variable
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225 stops incrementing, then an error has been found. */
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226 volatile unsigned long ulRegTest1LoopCounter = 0UL, ulRegTest2LoopCounter = 0UL;
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228 /*-----------------------------------------------------------*/
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230 void main_full( void )
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232 /* Start all the other standard demo/test tasks. They have not particular
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233 functionality, but do demonstrate how to use the FreeRTOS API and test the
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235 vStartInterruptQueueTasks();
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236 vStartDynamicPriorityTasks();
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237 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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238 vCreateBlockTimeTasks();
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239 vStartCountingSemaphoreTasks();
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240 vStartGenericQueueTasks( tskIDLE_PRIORITY );
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241 vStartRecursiveMutexTasks();
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242 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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243 vStartMathTasks( mainFLOP_TASK_PRIORITY );
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244 vStartTimerDemoTask( mainTIMER_TEST_PERIOD );
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245 vStartQueueOverwriteTask( mainQUEUE_OVERWRITE_PRIORITY );
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246 vStartEventGroupTasks();
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248 /* Start the tasks that implements the command console on the UART, as
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249 described above. */
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250 vUSBCommandConsoleStart( mainCDC_COMMAND_CONSOLE_STACK_SIZE, mainUART_COMMAND_CONSOLE_TASK_PRIORITY );
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252 /* Register the standard CLI commands. */
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253 vRegisterSampleCLICommands();
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255 /* Create the register check tasks, as described at the top of this file */
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256 xTaskCreate( prvRegTestTaskEntry1, "Reg1", configMINIMAL_STACK_SIZE, mainREG_TEST_TASK_1_PARAMETER, tskIDLE_PRIORITY, NULL );
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257 xTaskCreate( prvRegTestTaskEntry2, "Reg2", configMINIMAL_STACK_SIZE, mainREG_TEST_TASK_2_PARAMETER, tskIDLE_PRIORITY, NULL );
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259 /* Create the task that just adds a little random behaviour. */
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260 xTaskCreate( prvPseudoRandomiser, "Rnd", configMINIMAL_STACK_SIZE, NULL, configMAX_PRIORITIES - 1, NULL );
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262 /* Create the task that performs the 'check' functionality, as described at
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263 the top of this file. */
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264 xTaskCreate( prvCheckTask, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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266 /* The set of tasks created by the following function call have to be
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267 created last as they keep account of the number of tasks they expect to see
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269 vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
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271 /* Start the scheduler. */
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272 vTaskStartScheduler();
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274 /* If all is well, the scheduler will now be running, and the following
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275 line will never be reached. If the following line does execute, then
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276 there was either insufficient FreeRTOS heap memory available for the idle
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277 and/or timer tasks to be created, or vTaskStartScheduler() was called from
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278 User mode. See the memory management section on the FreeRTOS web site for
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279 more details on the FreeRTOS heap http://www.freertos.org/a00111.html. The
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280 mode from which main() is called is set in the C start up code and must be
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281 a privileged mode (not user mode). */
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284 /*-----------------------------------------------------------*/
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286 static void prvCheckTask( void *pvParameters )
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288 TickType_t xDelayPeriod = mainNO_ERROR_CHECK_TASK_PERIOD;
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289 TickType_t xLastExecutionTime;
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290 static unsigned long ulLastRegTest1Value = 0, ulLastRegTest2Value = 0;
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291 unsigned long ulErrorFound = pdFALSE;
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293 /* Just to stop compiler warnings. */
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294 ( void ) pvParameters;
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296 /* Initialise xLastExecutionTime so the first call to vTaskDelayUntil()
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297 works correctly. */
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298 xLastExecutionTime = xTaskGetTickCount();
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300 /* Cycle for ever, delaying then checking all the other tasks are still
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301 operating without error. The onboard LED is toggled on each iteration.
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302 If an error is detected then the delay period is decreased from
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303 mainNO_ERROR_CHECK_TASK_PERIOD to mainERROR_CHECK_TASK_PERIOD. This has the
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304 effect of increasing the rate at which the onboard LED toggles, and in so
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305 doing gives visual feedback of the system status. */
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308 /* Delay until it is time to execute again. */
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309 vTaskDelayUntil( &xLastExecutionTime, xDelayPeriod );
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311 /* Check all the demo tasks (other than the flash tasks) to ensure
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312 that they are all still running, and that none have detected an error. */
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313 if( xAreIntQueueTasksStillRunning() != pdTRUE )
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315 ulErrorFound = pdTRUE;
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318 if( xAreMathsTaskStillRunning() != pdTRUE )
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320 ulErrorFound = pdTRUE;
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323 if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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325 ulErrorFound = pdTRUE;
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328 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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330 ulErrorFound = pdTRUE;
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333 if ( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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335 ulErrorFound = pdTRUE;
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338 if ( xAreGenericQueueTasksStillRunning() != pdTRUE )
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340 ulErrorFound = pdTRUE;
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343 if ( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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345 ulErrorFound = pdTRUE;
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348 if( xIsCreateTaskStillRunning() != pdTRUE )
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350 ulErrorFound = pdTRUE;
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353 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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355 ulErrorFound = pdTRUE;
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358 if( xAreTimerDemoTasksStillRunning( ( TickType_t ) mainNO_ERROR_CHECK_TASK_PERIOD ) != pdPASS )
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360 ulErrorFound = pdTRUE;
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363 if( xAreCountingSemaphoreTasksStillRunning() != pdTRUE )
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365 ulErrorFound = pdTRUE;
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368 if( xIsQueueOverwriteTaskStillRunning() != pdPASS )
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370 ulErrorFound = pdTRUE;
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373 if( xAreEventGroupTasksStillRunning() != pdPASS )
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375 ulErrorFound = pdTRUE;
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378 /* Check that the register test 1 task is still running. */
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379 if( ulLastRegTest1Value == ulRegTest1LoopCounter )
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381 ulErrorFound = pdTRUE;
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383 ulLastRegTest1Value = ulRegTest1LoopCounter;
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385 /* Check that the register test 2 task is still running. */
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386 if( ulLastRegTest2Value == ulRegTest2LoopCounter )
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388 ulErrorFound = pdTRUE;
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390 ulLastRegTest2Value = ulRegTest2LoopCounter;
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392 /* Toggle the check LED to give an indication of the system status. If
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393 the LED toggles every mainNO_ERROR_CHECK_TASK_PERIOD milliseconds then
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394 everything is ok. A faster toggle indicates an error. */
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395 vParTestToggleLED( mainCHECK_LED );
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397 if( ulErrorFound != pdFALSE )
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399 /* An error has been detected in one of the tasks - flash the LED
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400 at a higher frequency to give visible feedback that something has
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401 gone wrong (it might just be that the loop back connector required
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402 by the comtest tasks has not been fitted). */
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403 xDelayPeriod = mainERROR_CHECK_TASK_PERIOD;
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407 /*-----------------------------------------------------------*/
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409 static void prvRegTestTaskEntry1( void *pvParameters )
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411 /* Although the regtest task is written in assembler, its entry point is
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412 written in C for convenience of checking the task parameter is being passed
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414 if( pvParameters == mainREG_TEST_TASK_1_PARAMETER )
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416 /* The reg test task also tests the floating point registers. Tasks
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417 that use the floating point unit must call vPortTaskUsesFPU() before
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418 any floating point instructions are executed. */
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419 vPortTaskUsesFPU();
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421 /* Start the part of the test that is written in assembler. */
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422 vRegTest1Implementation();
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425 /* The following line will only execute if the task parameter is found to
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426 be incorrect. The check timer will detect that the regtest loop counter is
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427 not being incremented and flag an error. */
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428 vTaskDelete( NULL );
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430 /*-----------------------------------------------------------*/
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432 static void prvRegTestTaskEntry2( void *pvParameters )
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434 /* Although the regtest task is written in assembler, its entry point is
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435 written in C for convenience of checking the task parameter is being passed
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437 if( pvParameters == mainREG_TEST_TASK_2_PARAMETER )
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439 /* The reg test task also tests the floating point registers. Tasks
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440 that use the floating point unit must call vPortTaskUsesFPU() before
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441 any floating point instructions are executed. */
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442 vPortTaskUsesFPU();
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444 /* Start the part of the test that is written in assembler. */
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445 vRegTest2Implementation();
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448 /* The following line will only execute if the task parameter is found to
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449 be incorrect. The check timer will detect that the regtest loop counter is
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450 not being incremented and flag an error. */
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451 vTaskDelete( NULL );
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453 /*-----------------------------------------------------------*/
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455 static void prvPseudoRandomiser( void *pvParameters )
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457 const uint32_t ulMultiplier = 0x015a4e35UL, ulIncrement = 1UL, ulMinDelay = ( 35 / portTICK_PERIOD_MS ), ulIBit = ( 1UL << 7UL );
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458 volatile uint32_t ulNextRand = ( uint32_t ) &pvParameters, ulValue;
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460 /* A few minor port tests before entering the randomiser loop.
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462 At this point interrupts should be enabled. */
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463 configASSERT( ( __get_CPSR() & ulIBit ) == 0 );
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465 /* The CPU does not have an interrupt mask register, so critical sections
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466 have to globally disable interrupts. Therefore entering a critical section
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467 should leave the I bit set. */
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468 taskENTER_CRITICAL();
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469 configASSERT( ( __get_CPSR() & ulIBit ) == ulIBit );
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471 /* Nest the critical sections. */
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472 taskENTER_CRITICAL();
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473 configASSERT( ( __get_CPSR() & ulIBit ) == ulIBit );
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475 /* After yielding the I bit should still be set. Note yielding is possible
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476 in a critical section as each task maintains its own critical section
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477 nesting count so some tasks are in critical sections and others are not -
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478 however this is *not* something task code should do! */
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480 configASSERT( ( __get_CPSR() & ulIBit ) == ulIBit );
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482 /* The I bit should not be cleared again until both critical sections have
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484 taskEXIT_CRITICAL();
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486 configASSERT( ( __get_CPSR() & ulIBit ) == ulIBit );
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487 taskEXIT_CRITICAL();
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488 configASSERT( ( __get_CPSR() & ulIBit ) == 0 );
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490 configASSERT( ( __get_CPSR() & ulIBit ) == 0 );
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492 /* This task does nothing other than ensure there is a little bit of
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493 disruption in the scheduling pattern of the other tasks. Normally this is
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494 done by generating interrupts at pseudo random times. */
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497 ulNextRand = ( ulMultiplier * ulNextRand ) + ulIncrement;
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498 ulValue = ( ulNextRand >> 16UL ) & 0xffUL;
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500 if( ulValue < ulMinDelay )
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502 ulValue = ulMinDelay;
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505 vTaskDelay( ulValue );
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507 while( ulValue > 0 )
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509 __asm volatile( "NOP" );
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510 __asm volatile( "NOP" );
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511 __asm volatile( "NOP" );
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512 __asm volatile( "NOP" );
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