3 * FreeRTOS Kernel V10.1.0
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4 * Copyright (C) 2018 Amazon.com, Inc. or its affiliates. All Rights Reserved.
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6 * Permission is hereby granted, free of charge, to any person obtaining a copy of
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7 * this software and associated documentation files (the "Software"), to deal in
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8 * the Software without restriction, including without limitation the rights to
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9 * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
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10 * the Software, and to permit persons to whom the Software is furnished to do so,
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11 * subject to the following conditions:
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13 * The above copyright notice and this permission notice shall be included in all
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14 * copies or substantial portions of the Software.
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16 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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17 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
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18 * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
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19 * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
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20 * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
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21 * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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23 * http://www.FreeRTOS.org
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24 * http://aws.amazon.com/freertos
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26 * 1 tab == 4 spaces!
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32 * vMain() is effectively the demo application entry point. It is called by
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33 * the main() function generated by the Processor Expert application.
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35 * vMain() creates all the demo application tasks, then starts the scheduler.
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36 * The WEB documentation provides more details of the demo application tasks.
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38 * Main.c also creates a task called "Check". This only executes every three
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39 * seconds but has the highest priority so is guaranteed to get processor time.
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40 * Its main function is to check that all the other tasks are still operational.
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41 * Each task (other than the "flash" tasks) maintains a unique count that is
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42 * incremented each time the task successfully completes its function. Should
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43 * any error occur within such a task the count is permanently halted. The
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44 * check task inspects the count of each task to ensure it has changed since
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45 * the last time the check task executed. If all the count variables have
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46 * changed all the tasks are still executing error free, and the check task
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47 * toggles the onboard LED. Should any task contain an error at any time
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48 * the LED toggle rate will change from 3 seconds to 500ms.
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50 * This file also includes the functionality implemented within the
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51 * standard demo application file integer.c. This is done to demonstrate the
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52 * use of an idle hook. See the documentation within integer.c for the
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53 * rationale of the integer task functionality.
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56 /* Kernel includes. */
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57 #include "FreeRTOS.h"
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61 /* Demo application includes. */
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64 #include "dynamic.h"
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65 #include "partest.h"
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66 #include "comtest2.h"
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68 #include "integer.h"
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72 /*-----------------------------------------------------------
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74 -----------------------------------------------------------*/
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76 /* Priorities assigned to demo application tasks. */
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77 #define mainFLASH_PRIORITY ( tskIDLE_PRIORITY + 2 )
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78 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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79 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 1 )
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80 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
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81 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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82 #define mainDEATH_PRIORITY ( tskIDLE_PRIORITY + 1 )
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84 /* LED that is toggled by the check task. The check task periodically checks
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85 that all the other tasks are operating without error. If no errors are found
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86 the LED is toggled with mainCHECK_PERIOD frequency. If an error is found
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87 then the toggle rate increases to mainERROR_CHECK_PERIOD. */
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88 #define mainCHECK_TASK_LED ( 7 )
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89 #define mainCHECK_PERIOD ( ( TickType_t ) 3000 / portTICK_PERIOD_MS )
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90 #define mainERROR_CHECK_PERIOD ( ( TickType_t ) 500 / portTICK_PERIOD_MS )
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92 /* The constants used in the idle task calculation. */
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93 #define intgCONST1 ( ( long ) 123 )
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94 #define intgCONST2 ( ( long ) 234567 )
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95 #define intgCONST3 ( ( long ) -3 )
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96 #define intgCONST4 ( ( long ) 7 )
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97 #define intgEXPECTED_ANSWER ( ( ( intgCONST1 + intgCONST2 ) * intgCONST3 ) / intgCONST4 )
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100 /* Baud rate used by the serial port tasks (ComTest tasks).
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101 IMPORTANT: The function COM0_SetBaudRateValue() which is generated by the
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102 Processor Expert is used to set the baud rate. As configured in the FreeRTOS
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103 download this value must be one of the following:
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105 0 to configure for 38400 baud.
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106 1 to configure for 19200 baud.
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107 2 to configure for 9600 baud.
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108 3 to configure for 4800 baud. */
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109 #define mainCOM_TEST_BAUD_RATE ( ( unsigned long ) 2 )
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111 /* LED used by the serial port tasks. This is toggled on each character Tx,
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112 and mainCOM_TEST_LED + 1 is toggles on each character Rx. */
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113 #define mainCOM_TEST_LED ( 3 )
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115 /*-----------------------------------------------------------
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116 Local functions prototypes.
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117 -----------------------------------------------------------*/
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120 * The 'Check' task function. See the explanation at the top of the file.
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122 static void vErrorChecks( void* pvParameters );
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125 * The idle task hook - in which the integer task is implemented. See the
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126 * explanation at the top of the file.
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128 void vApplicationIdleHook( void );
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131 * Checks the unique counts of other tasks to ensure they are still operational.
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133 static long prvCheckOtherTasksAreStillRunning( void );
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137 /*-----------------------------------------------------------
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139 -----------------------------------------------------------*/
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141 /* A few tasks are defined within this file. This flag is used to indicate
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142 their status. If an error is detected in one of the locally defined tasks then
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143 this flag is set to pdTRUE. */
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144 portBASE_TYPE xLocalError = pdFALSE;
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147 /*-----------------------------------------------------------*/
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150 * This is called from the main() function generated by the Processor Expert.
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154 /* Start some of the standard demo tasks. */
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155 vStartLEDFlashTasks( mainFLASH_PRIORITY );
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156 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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157 vStartDynamicPriorityTasks();
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158 vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
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159 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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160 vStartIntegerMathTasks( tskIDLE_PRIORITY );
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162 /* Start the locally defined tasks. There is also a task implemented as
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164 xTaskCreate( vErrorChecks, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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166 /* Must be the last demo created. */
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167 vCreateSuicidalTasks( mainDEATH_PRIORITY );
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169 /* All the tasks have been created - start the scheduler. */
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170 vTaskStartScheduler();
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172 /* Should not reach here! */
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175 /*-----------------------------------------------------------*/
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177 static void vErrorChecks( void *pvParameters )
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179 TickType_t xDelayPeriod = mainCHECK_PERIOD;
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180 TickType_t xLastWakeTime;
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182 /* Initialise xLastWakeTime to ensure the first call to vTaskDelayUntil()
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183 functions correctly. */
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184 xLastWakeTime = xTaskGetTickCount();
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188 /* Delay until it is time to execute again. The delay period is
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189 shorter following an error. */
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190 vTaskDelayUntil( &xLastWakeTime, xDelayPeriod );
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192 /* Check all the demo application tasks are executing without
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193 error. If an error is found the delay period is shortened - this
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194 has the effect of increasing the flash rate of the 'check' task
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196 if( prvCheckOtherTasksAreStillRunning() == pdFAIL )
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198 /* An error has been detected in one of the tasks - flash faster. */
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199 xDelayPeriod = mainERROR_CHECK_PERIOD;
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202 /* Toggle the LED each cycle round. */
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203 vParTestToggleLED( mainCHECK_TASK_LED );
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206 /*-----------------------------------------------------------*/
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208 static long prvCheckOtherTasksAreStillRunning( void )
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210 portBASE_TYPE xAllTasksPassed = pdPASS;
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212 if( xArePollingQueuesStillRunning() != pdTRUE )
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214 xAllTasksPassed = pdFAIL;
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217 if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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219 xAllTasksPassed = pdFAIL;
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222 if( xAreComTestTasksStillRunning() != pdTRUE )
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224 xAllTasksPassed = pdFALSE;
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227 if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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229 xAllTasksPassed = pdFALSE;
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232 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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234 xAllTasksPassed = pdFALSE;
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237 if( xIsCreateTaskStillRunning() != pdTRUE )
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239 xAllTasksPassed = pdFALSE;
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242 /* Also check the status flag for the tasks defined within this function. */
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243 if( xLocalError != pdFALSE )
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245 xAllTasksPassed = pdFAIL;
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248 return xAllTasksPassed;
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250 /*-----------------------------------------------------------*/
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252 void vApplicationIdleHook( void )
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254 /* This variable is effectively set to a constant so it is made volatile to
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255 ensure the compiler does not just get rid of it. */
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256 volatile long lValue;
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258 /* Keep performing a calculation and checking the result against a constant. */
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260 /* Perform the calculation. This will store partial value in
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261 registers, resulting in a good test of the context switch mechanism. */
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262 lValue = intgCONST1;
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263 lValue += intgCONST2;
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264 lValue *= intgCONST3;
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265 lValue /= intgCONST4;
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267 /* Did we perform the calculation correctly with no corruption? */
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268 if( lValue != intgEXPECTED_ANSWER )
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271 portENTER_CRITICAL();
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272 xLocalError = pdTRUE;
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273 portEXIT_CRITICAL();
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276 /* Yield in case cooperative scheduling is being used. */
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277 #if configUSE_PREEMPTION == 0
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283 /*-----------------------------------------------------------*/
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