2 FreeRTOS V8.1.1 - 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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76 ******************************************************************************
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78 * main_full() creates all the demo application tasks and a software timer, then
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79 * starts the scheduler. The web documentation provides more details of the
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80 * standard demo application tasks, which provide no particular functionality,
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81 * but do provide a good example of how to use the FreeRTOS API.
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83 * In addition to the standard demo tasks, the following tasks and tests are
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84 * defined and/or created within this file:
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86 * "Check" timer - The check software timer period is initially set to three
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87 * seconds. The callback function associated with the check software timer
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88 * checks that all the standard demo tasks are not only still executing, but
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89 * are executing without reporting any errors. If the check software timer
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90 * discovers that a task has either stalled, or reported an error, then it
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91 * changes its own execution period from the initial three seconds, to just
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92 * 200ms. The check software timer callback function also toggles the green
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93 * LED each time it is called. This provides a visual indication of the system
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94 * status: If the green LED toggles every three seconds, then no issues have
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95 * been discovered. If the green LED toggles every 200ms, then an issue has
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96 * been discovered with at least one task.
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98 * See the documentation page for this demo on the FreeRTOS.org web site for
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99 * full information, including hardware setup requirements.
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102 /* Standard includes. */
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105 /* Kernel includes. */
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106 #include "FreeRTOS.h"
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108 #include "timers.h"
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109 #include "semphr.h"
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111 /* Standard demo application includes. */
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112 #include "integer.h"
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114 #include "semtest.h"
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115 #include "dynamic.h"
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116 #include "BlockQ.h"
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117 #include "blocktim.h"
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118 #include "countsem.h"
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119 #include "GenQTest.h"
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120 #include "recmutex.h"
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122 #include "flash_timer.h"
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123 #include "partest.h"
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124 #include "comtest2.h"
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127 /* Atmel library includes. */
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130 /* Priorities for the demo application tasks. */
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131 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2UL )
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132 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1UL )
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133 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2UL )
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134 #define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3UL )
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135 #define mainFLOP_TASK_PRIORITY ( tskIDLE_PRIORITY )
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136 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
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138 /* A block time of zero simply means "don't block". */
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139 #define mainDONT_BLOCK ( 0UL )
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141 /* The period after which the check timer will expire, in ms, provided no errors
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142 have been reported by any of the standard demo tasks. ms are converted to the
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143 equivalent in ticks using the portTICK_PERIOD_MS constant. */
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144 #define mainCHECK_TIMER_PERIOD_MS ( 3000UL / portTICK_PERIOD_MS )
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146 /* The period at which the check timer will expire, in ms, if an error has been
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147 reported in one of the standard demo tasks. ms are converted to the equivalent
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148 in ticks using the portTICK_PERIOD_MS constant. */
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149 #define mainERROR_CHECK_TIMER_PERIOD_MS ( 200UL / portTICK_PERIOD_MS )
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151 /* The standard demo flash timers can be used to flash any number of LEDs. In
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152 this case, because only three LEDs are available, and one is in use by the
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153 check timer, only two are used by the flash timers. */
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154 #define mainNUMBER_OF_FLASH_TIMERS_LEDS ( 2 )
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156 /* The LED toggled by the check timer. The first two LEDs are toggle by the
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157 standard demo flash timers. */
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158 #define mainCHECK_LED ( 2 )
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160 /* Baud rate used by the comtest tasks. */
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161 #define mainCOM_TEST_BAUD_RATE ( 115200 )
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163 /* The LED used by the comtest tasks. In this case, there are no LEDs available
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164 for the comtest, so the LED number is deliberately out of range. */
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165 #define mainCOM_TEST_LED ( 3 )
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167 /*-----------------------------------------------------------*/
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170 * The check timer callback function, as described at the top of this file.
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172 static void prvCheckTimerCallback( TimerHandle_t xTimer );
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174 /*-----------------------------------------------------------*/
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176 void main_full( void )
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178 TimerHandle_t xCheckTimer = NULL;
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180 /* Start all the other standard demo/test tasks. The have not particular
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181 functionality, but do demonstrate how to use the FreeRTOS API and test the
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183 vStartIntegerMathTasks( tskIDLE_PRIORITY );
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184 vStartDynamicPriorityTasks();
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185 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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186 vCreateBlockTimeTasks();
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187 vStartCountingSemaphoreTasks();
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188 vStartGenericQueueTasks( tskIDLE_PRIORITY );
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189 vStartRecursiveMutexTasks();
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190 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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191 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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192 vStartLEDFlashTimers( mainNUMBER_OF_FLASH_TIMERS_LEDS );
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193 vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
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195 /* Create the software timer that performs the 'check' functionality,
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196 as described at the top of this file. */
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197 xCheckTimer = xTimerCreate( "CheckTimer", /* A text name, purely to help debugging. */
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198 ( mainCHECK_TIMER_PERIOD_MS ), /* The timer period, in this case 3000ms (3s). */
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199 pdTRUE, /* This is an auto-reload timer, so xAutoReload is set to pdTRUE. */
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200 ( void * ) 0, /* The ID is not used, so can be set to anything. */
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201 prvCheckTimerCallback /* The callback function that inspects the status of all the other tasks. */
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204 if( xCheckTimer != NULL )
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206 xTimerStart( xCheckTimer, mainDONT_BLOCK );
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209 /* The set of tasks created by the following function call have to be
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210 created last as they keep account of the number of tasks they expect to see
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212 vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
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214 /* Start the scheduler. */
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215 vTaskStartScheduler();
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217 /* If all is well, the scheduler will now be running, and the following line
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218 will never be reached. If the following line does execute, then there was
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219 insufficient FreeRTOS heap memory available for the idle and/or timer tasks
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220 to be created. See the memory management section on the FreeRTOS web site
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221 for more details. */
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224 /*-----------------------------------------------------------*/
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226 static void prvCheckTimerCallback( TimerHandle_t xTimer )
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228 static long lChangedTimerPeriodAlready = pdFALSE;
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229 unsigned long ulErrorFound = pdFALSE;
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231 /* Check all the demo tasks (other than the flash tasks) to ensure
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232 they are all still running, and that none have detected an error. */
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234 if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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236 ulErrorFound = pdTRUE;
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239 if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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241 ulErrorFound = pdTRUE;
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244 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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246 ulErrorFound = pdTRUE;
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249 if ( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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251 ulErrorFound = pdTRUE;
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254 if ( xAreGenericQueueTasksStillRunning() != pdTRUE )
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256 ulErrorFound = pdTRUE;
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259 if ( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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261 ulErrorFound = pdTRUE;
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264 if( xIsCreateTaskStillRunning() != pdTRUE )
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266 ulErrorFound = pdTRUE;
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269 if( xArePollingQueuesStillRunning() != pdTRUE )
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271 ulErrorFound = pdTRUE;
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274 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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276 ulErrorFound = pdTRUE;
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279 if( xAreComTestTasksStillRunning() != pdTRUE )
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281 ulErrorFound = pdTRUE;
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284 /* Toggle the check LED to give an indication of the system status. If
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285 the LED toggles every mainCHECK_TIMER_PERIOD_MS milliseconds then
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286 everything is ok. A faster toggle indicates an error. */
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287 vParTestToggleLED( mainCHECK_LED );
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289 /* Have any errors been latch in ulErrorFound? If so, shorten the
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290 period of the check timer to mainERROR_CHECK_TIMER_PERIOD_MS milliseconds.
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291 This will result in an increase in the rate at which mainCHECK_LED
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293 if( ulErrorFound != pdFALSE )
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295 if( lChangedTimerPeriodAlready == pdFALSE )
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297 lChangedTimerPeriodAlready = pdTRUE;
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299 /* This call to xTimerChangePeriod() uses a zero block time.
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300 Functions called from inside of a timer callback function must
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301 *never* attempt to block. */
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302 xTimerChangePeriod( xTimer, ( mainERROR_CHECK_TIMER_PERIOD_MS ), mainDONT_BLOCK );
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306 /*-----------------------------------------------------------*/
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