2 * FreeRTOS Kernel V10.2.1
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3 * Copyright (C) 2019 Amazon.com, Inc. or its affiliates. All Rights Reserved.
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5 * Permission is hereby granted, free of charge, to any person obtaining a copy of
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6 * this software and associated documentation files (the "Software"), to deal in
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7 * the Software without restriction, including without limitation the rights to
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8 * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
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9 * the Software, and to permit persons to whom the Software is furnished to do so,
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10 * subject to the following conditions:
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12 * The above copyright notice and this permission notice shall be included in all
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13 * copies or substantial portions of the Software.
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15 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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16 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
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17 * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
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18 * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
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19 * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
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20 * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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22 * http://www.FreeRTOS.org
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23 * http://aws.amazon.com/freertos
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25 * 1 tab == 4 spaces!
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29 *******************************************************************************
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30 * NOTE 1: The Win32 port is a simulation (or is that emulation?) only! Do not
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31 * expect to get real time behaviour from the Win32 port or this demo
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32 * application. It is provided as a convenient development and demonstration
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35 * Windows will not be running the FreeRTOS simulator threads continuously, so
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36 * the timing information in the FreeRTOS+Trace logs have no meaningful units.
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37 * See the documentation page for the Windows simulator for an explanation of
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39 * http://www.freertos.org/FreeRTOS-Windows-Simulator-Emulator-for-Visual-Studio-and-Eclipse-MingW.html
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40 * - READ THE WEB DOCUMENTATION FOR THIS PORT FOR MORE INFORMATION ON USING IT -
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42 * NOTE 2: This project provides two demo applications. A simple blinky style
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43 * project, and a more comprehensive test and demo application. The
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44 * mainCREATE_SIMPLE_BLINKY_DEMO_ONLY setting in main.c is used to select
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45 * between the two. See the notes on using mainCREATE_SIMPLE_BLINKY_DEMO_ONLY
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46 * in main.c. This file implements the comprehensive test and demo version.
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48 * NOTE 3: This file only contains the source code that is specific to the
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49 * full demo. Generic functions, such FreeRTOS hook functions, are defined in
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51 *******************************************************************************
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53 * main() creates all the demo application tasks, then starts the scheduler.
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54 * The web documentation provides more details of the standard demo application
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55 * tasks, which provide no particular functionality but do provide a good
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56 * example of how to use the FreeRTOS API.
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58 * In addition to the standard demo tasks, the following tasks and tests are
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59 * defined and/or created within this file:
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61 * "Check" task - This only executes every five seconds but has a high priority
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62 * to ensure it gets processor time. Its main function is to check that all the
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63 * standard demo tasks are still operational. While no errors have been
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64 * discovered the check task will print out "OK" and the current simulated tick
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65 * time. If an error is discovered in the execution of a task then the check
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66 * task will print out an appropriate error message.
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71 /* Standard includes. */
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75 /* Kernel includes. */
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76 #include <FreeRTOS.h>
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82 /* Standard demo includes. */
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84 #include "integer.h"
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85 #include "semtest.h"
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87 #include "GenQTest.h"
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89 #include "recmutex.h"
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91 #include "TimerDemo.h"
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92 #include "countsem.h"
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94 #include "dynamic.h"
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95 #include "QueueSet.h"
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96 #include "QueueOverwrite.h"
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97 #include "EventGroupsDemo.h"
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98 #include "IntSemTest.h"
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99 #include "TaskNotify.h"
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100 #include "QueueSetPolling.h"
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101 #include "StaticAllocation.h"
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102 #include "blocktim.h"
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103 #include "AbortDelay.h"
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104 #include "MessageBufferDemo.h"
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105 #include "StreamBufferDemo.h"
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106 #include "StreamBufferInterrupt.h"
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107 #include "MessageBufferAMP.h"
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109 /* Priorities at which the tasks are created. */
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110 #define mainCHECK_TASK_PRIORITY ( configMAX_PRIORITIES - 2 )
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111 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 1 )
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112 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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113 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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114 #define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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115 #define mainFLASH_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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116 #define mainINTEGER_TASK_PRIORITY ( tskIDLE_PRIORITY )
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117 #define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )
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118 #define mainFLOP_TASK_PRIORITY ( tskIDLE_PRIORITY )
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119 #define mainQUEUE_OVERWRITE_PRIORITY ( tskIDLE_PRIORITY )
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121 #define mainTIMER_TEST_PERIOD ( 50 )
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124 * Exercises code that is not otherwise covered by the standard demo/test
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127 extern BaseType_t xRunCodeCoverageTestAdditions( void );
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129 /* Task function prototypes. */
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130 static void prvCheckTask( void *pvParameters );
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132 /* A task that is created from the idle task to test the functionality of
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133 eTaskStateGet(). */
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134 static void prvTestTask( void *pvParameters );
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137 * Called from the idle task hook function to demonstrate a few utility
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138 * functions that are not demonstrated by any of the standard demo tasks.
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140 static void prvDemonstrateTaskStateAndHandleGetFunctions( void );
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143 * Called from the idle task hook function to demonstrate the use of
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144 * xTimerPendFunctionCall() as xTimerPendFunctionCall() is not demonstrated by
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145 * any of the standard demo tasks.
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147 static void prvDemonstratePendingFunctionCall( void );
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150 * The function that is pended by prvDemonstratePendingFunctionCall().
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152 static void prvPendedFunction( void *pvParameter1, uint32_t ulParameter2 );
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155 * prvDemonstrateTimerQueryFunctions() is called from the idle task hook
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156 * function to demonstrate the use of functions that query information about a
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157 * software timer. prvTestTimerCallback() is the callback function for the
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158 * timer being queried.
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160 static void prvDemonstrateTimerQueryFunctions( void );
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161 static void prvTestTimerCallback( TimerHandle_t xTimer );
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164 * A task to demonstrate the use of the xQueueSpacesAvailable() function.
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166 static void prvDemoQueueSpaceFunctions( void *pvParameters );
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169 * Tasks that ensure indefinite delays are truly indefinite.
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171 static void prvPermanentlyBlockingSemaphoreTask( void *pvParameters );
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172 static void prvPermanentlyBlockingNotificationTask( void *pvParameters );
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175 * The test function and callback function used when exercising the timer AP
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176 * function that changes the timer's autoreload mode.
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178 static void prvDemonstrateChangingTimerReloadMode( void *pvParameters );
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179 static void prvReloadModeTestTimerCallback( TimerHandle_t xTimer );
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181 /*-----------------------------------------------------------*/
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183 /* The variable into which error messages are latched. */
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184 static char *pcStatusMessage = "No errors";
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186 /* This semaphore is created purely to test using the vSemaphoreDelete() and
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187 semaphore tracing API functions. It has no other purpose. */
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188 static SemaphoreHandle_t xMutexToDelete = NULL;
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190 /*-----------------------------------------------------------*/
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192 int main_full( void )
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194 /* Start the check task as described at the top of this file. */
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195 xTaskCreate( prvCheckTask, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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197 /* Create the standard demo tasks. */
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198 vStartTaskNotifyTask();
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199 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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200 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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201 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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202 vStartIntegerMathTasks( mainINTEGER_TASK_PRIORITY );
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203 vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
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204 vStartQueuePeekTasks();
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205 vStartMathTasks( mainFLOP_TASK_PRIORITY );
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206 vStartRecursiveMutexTasks();
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207 vStartCountingSemaphoreTasks();
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208 vStartDynamicPriorityTasks();
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209 vStartQueueSetTasks();
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210 vStartQueueOverwriteTask( mainQUEUE_OVERWRITE_PRIORITY );
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211 xTaskCreate( prvDemoQueueSpaceFunctions, NULL, configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL ); /* Name is null for code coverage. */
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212 vStartEventGroupTasks();
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213 vStartInterruptSemaphoreTasks();
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214 vStartQueueSetPollingTask();
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215 vCreateBlockTimeTasks();
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216 vCreateAbortDelayTasks();
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217 xTaskCreate( prvDemoQueueSpaceFunctions, "QSpace", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
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218 xTaskCreate( prvPermanentlyBlockingSemaphoreTask, "BlockSem", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
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219 xTaskCreate( prvPermanentlyBlockingNotificationTask, "BlockNoti", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
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220 xTaskCreate( prvDemonstrateChangingTimerReloadMode, "TimerMode", configMINIMAL_STACK_SIZE, NULL, configMAX_PRIORITIES - 1, NULL );
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222 vStartMessageBufferTasks( configMINIMAL_STACK_SIZE );
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223 vStartStreamBufferTasks();
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224 vStartStreamBufferInterruptDemo();
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225 vStartMessageBufferAMPTasks( configMINIMAL_STACK_SIZE );
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227 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
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229 vStartStaticallyAllocatedTasks();
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233 #if( configUSE_PREEMPTION != 0 )
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235 /* Don't expect these tasks to pass when preemption is not used. */
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236 vStartTimerDemoTask( mainTIMER_TEST_PERIOD );
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240 /* The suicide tasks must be created last as they need to know how many
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241 tasks were running prior to their creation. This then allows them to
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242 ascertain whether or not the correct/expected number of tasks are running at
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244 vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
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246 /* Create the semaphore that will be deleted in the idle task hook. This
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247 is done purely to test the use of vSemaphoreDelete(). */
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248 xMutexToDelete = xSemaphoreCreateMutex();
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250 /* Start the scheduler itself. */
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251 vTaskStartScheduler();
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253 /* Should never get here unless there was not enough heap space to create
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254 the idle and other system tasks. */
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257 /*-----------------------------------------------------------*/
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259 static void prvCheckTask( void *pvParameters )
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261 TickType_t xNextWakeTime;
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262 const TickType_t xCycleFrequency = pdMS_TO_TICKS( 2500UL );
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263 HeapStats_t xHeapStats;
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265 /* Just to remove compiler warning. */
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266 ( void ) pvParameters;
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268 /* Initialise xNextWakeTime - this only needs to be done once. */
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269 xNextWakeTime = xTaskGetTickCount();
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273 /* Place this task in the blocked state until it is time to run again. */
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274 vTaskDelayUntil( &xNextWakeTime, xCycleFrequency );
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276 /* Check the standard demo tasks are running without error. */
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277 #if( configUSE_PREEMPTION != 0 )
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279 /* These tasks are only created when preemption is used. */
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280 if( xAreTimerDemoTasksStillRunning( xCycleFrequency ) != pdTRUE )
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282 pcStatusMessage = "Error: TimerDemo";
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287 if( xAreStreamBufferTasksStillRunning() != pdTRUE )
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289 pcStatusMessage = "Error: StreamBuffer";
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291 else if( xAreMessageBufferTasksStillRunning() != pdTRUE )
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293 pcStatusMessage = "Error: MessageBuffer";
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295 else if( xAreTaskNotificationTasksStillRunning() != pdTRUE )
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297 pcStatusMessage = "Error: Notification";
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299 else if( xAreInterruptSemaphoreTasksStillRunning() != pdTRUE )
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301 pcStatusMessage = "Error: IntSem";
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303 else if( xAreEventGroupTasksStillRunning() != pdTRUE )
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305 pcStatusMessage = "Error: EventGroup";
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307 else if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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309 pcStatusMessage = "Error: IntMath";
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311 else if( xAreGenericQueueTasksStillRunning() != pdTRUE )
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313 pcStatusMessage = "Error: GenQueue";
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315 else if( xAreQueuePeekTasksStillRunning() != pdTRUE )
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317 pcStatusMessage = "Error: QueuePeek";
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319 else if( xAreBlockingQueuesStillRunning() != pdTRUE )
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321 pcStatusMessage = "Error: BlockQueue";
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323 else if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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325 pcStatusMessage = "Error: SemTest";
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327 else if( xArePollingQueuesStillRunning() != pdTRUE )
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329 pcStatusMessage = "Error: PollQueue";
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331 else if( xAreMathsTaskStillRunning() != pdPASS )
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333 pcStatusMessage = "Error: Flop";
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335 else if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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337 pcStatusMessage = "Error: RecMutex";
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339 else if( xAreCountingSemaphoreTasksStillRunning() != pdTRUE )
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341 pcStatusMessage = "Error: CountSem";
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343 else if( xIsCreateTaskStillRunning() != pdTRUE )
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345 pcStatusMessage = "Error: Death";
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347 else if( xAreDynamicPriorityTasksStillRunning() != pdPASS )
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349 pcStatusMessage = "Error: Dynamic";
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351 else if( xAreQueueSetTasksStillRunning() != pdPASS )
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353 pcStatusMessage = "Error: Queue set";
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355 else if( xIsQueueOverwriteTaskStillRunning() != pdPASS )
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357 pcStatusMessage = "Error: Queue overwrite";
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359 else if( xAreQueueSetPollTasksStillRunning() != pdPASS )
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361 pcStatusMessage = "Error: Queue set polling";
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363 else if( xAreBlockTimeTestTasksStillRunning() != pdPASS )
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365 pcStatusMessage = "Error: Block time";
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367 else if( xAreAbortDelayTestTasksStillRunning() != pdPASS )
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369 pcStatusMessage = "Error: Abort delay";
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371 else if( xIsInterruptStreamBufferDemoStillRunning() != pdPASS )
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373 pcStatusMessage = "Error: Stream buffer interrupt";
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375 else if( xAreMessageBufferAMPTasksStillRunning() != pdPASS )
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377 pcStatusMessage = "Error: Message buffer AMP";
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380 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
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381 else if( xAreStaticAllocationTasksStillRunning() != pdPASS )
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383 pcStatusMessage = "Error: Static allocation";
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385 #endif /* configSUPPORT_STATIC_ALLOCATION */
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387 /* This is the only task that uses stdout so its ok to call printf()
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389 vPortGetHeapStats( &xHeapStats );
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391 configASSERT( xHeapStats.xAvailableHeapSpaceInBytes == xPortGetFreeHeapSize() );
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392 configASSERT( xHeapStats.xMinimumEverFreeBytesRemaining == xPortGetMinimumEverFreeHeapSize() );
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394 printf( "%s - tick count %u - free heap %u - min free heap %u - largest free block %u - number of free blocks %u\r\n",
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396 xTaskGetTickCount(),
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397 xHeapStats.xAvailableHeapSpaceInBytes,
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398 xHeapStats.xMinimumEverFreeBytesRemaining,
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399 xHeapStats.xSizeOfLargestFreeBlockInBytes,
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400 xHeapStats.xNumberOfFreeBlocks );
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405 /*-----------------------------------------------------------*/
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407 static void prvTestTask( void *pvParameters )
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409 const unsigned long ulMSToSleep = 5;
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411 /* Just to remove compiler warnings. */
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412 ( void ) pvParameters;
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414 /* This task is just used to test the eTaskStateGet() function. It
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415 does not have anything to do. */
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418 /* Sleep to reduce CPU load, but don't sleep indefinitely in case there are
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419 tasks waiting to be terminated by the idle task. */
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420 Sleep( ulMSToSleep );
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423 /*-----------------------------------------------------------*/
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425 /* Called from vApplicationIdleHook(), which is defined in main.c. */
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426 void vFullDemoIdleFunction( void )
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428 const unsigned long ulMSToSleep = 15;
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431 /* Sleep to reduce CPU load, but don't sleep indefinitely in case there are
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432 tasks waiting to be terminated by the idle task. */
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433 Sleep( ulMSToSleep );
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435 /* Demonstrate a few utility functions that are not demonstrated by any of
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436 the standard demo tasks. */
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437 prvDemonstrateTaskStateAndHandleGetFunctions();
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439 /* Demonstrate the use of xTimerPendFunctionCall(), which is not
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440 demonstrated by any of the standard demo tasks. */
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441 prvDemonstratePendingFunctionCall();
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443 /* Demonstrate the use of functions that query information about a software
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445 prvDemonstrateTimerQueryFunctions();
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447 /* If xMutexToDelete has not already been deleted, then delete it now.
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448 This is done purely to demonstrate the use of, and test, the
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449 vSemaphoreDelete() macro. Care must be taken not to delete a semaphore
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450 that has tasks blocked on it. */
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451 if( xMutexToDelete != NULL )
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453 /* For test purposes, add the mutex to the registry, then remove it
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454 again, before it is deleted - checking its name is as expected before
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455 and after the assertion into the registry and its removal from the
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457 configASSERT( pcQueueGetName( xMutexToDelete ) == NULL );
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458 vQueueAddToRegistry( xMutexToDelete, "Test_Mutex" );
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459 configASSERT( strcmp( pcQueueGetName( xMutexToDelete ), "Test_Mutex" ) == 0 );
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460 vQueueUnregisterQueue( xMutexToDelete );
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461 configASSERT( pcQueueGetName( xMutexToDelete ) == NULL );
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463 vSemaphoreDelete( xMutexToDelete );
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464 xMutexToDelete = NULL;
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467 /* Exercise heap_5 a bit. The malloc failed hook will trap failed
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468 allocations so there is no need to test here. */
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469 pvAllocated = pvPortMalloc( ( rand() % 500 ) + 1 );
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470 vPortFree( pvAllocated );
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472 /* Exit after a fixed time so code coverage results are written to the
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474 #if( projCOVERAGE_TEST == 1 )
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476 const TickType_t xMaxRunTime = pdMS_TO_TICKS( 30000UL );
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478 /* Exercise code not otherwise executed by standard demo/test tasks. */
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479 if( xRunCodeCoverageTestAdditions() != pdPASS )
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481 pcStatusMessage = "Code coverage additions failed.\r\n";
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484 if( ( xTaskGetTickCount() - configINITIAL_TICK_COUNT ) >= xMaxRunTime )
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486 vTaskEndScheduler();
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491 /*-----------------------------------------------------------*/
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493 /* Called by vApplicationTickHook(), which is defined in main.c. */
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494 void vFullDemoTickHookFunction( void )
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496 TaskHandle_t xTimerTask;
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498 /* Call the periodic timer test, which tests the timer API functions that
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499 can be called from an ISR. */
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500 #if( configUSE_PREEMPTION != 0 )
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502 /* Only created when preemption is used. */
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503 vTimerPeriodicISRTests();
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507 /* Call the periodic queue overwrite from ISR demo. */
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508 vQueueOverwritePeriodicISRDemo();
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510 /* Write to a queue that is in use as part of the queue set demo to
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511 demonstrate using queue sets from an ISR. */
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512 vQueueSetAccessQueueSetFromISR();
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513 vQueueSetPollingInterruptAccess();
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515 /* Exercise event groups from interrupts. */
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516 vPeriodicEventGroupsProcessing();
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518 /* Exercise giving mutexes from an interrupt. */
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519 vInterruptSemaphorePeriodicTest();
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521 /* Exercise using task notifications from an interrupt. */
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522 xNotifyTaskFromISR();
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524 /* Writes to stream buffer byte by byte to test the stream buffer trigger
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525 level functionality. */
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526 vPeriodicStreamBufferProcessing();
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528 /* Writes a string to a string buffer four bytes at a time to demonstrate
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529 a stream being sent from an interrupt to a task. */
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530 vBasicStreamBufferSendFromISR();
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532 /* For code coverage purposes. */
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533 xTimerTask = xTimerGetTimerDaemonTaskHandle();
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534 configASSERT( uxTaskPriorityGetFromISR( xTimerTask ) == configTIMER_TASK_PRIORITY );
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535 ( void ) xTimerTask; /* In case configASSERT() is not defined. */
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537 /*-----------------------------------------------------------*/
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539 static void prvPendedFunction( void *pvParameter1, uint32_t ulParameter2 )
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541 static uint32_t ulLastParameter1 = 1000UL, ulLastParameter2 = 0UL;
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542 uint32_t ulParameter1;
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544 ulParameter1 = ( uint32_t ) pvParameter1;
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546 /* Ensure the parameters are as expected. */
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547 configASSERT( ulParameter1 == ( ulLastParameter1 + 1 ) );
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548 configASSERT( ulParameter2 == ( ulLastParameter2 + 1 ) );
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550 /* Remember the parameters for the next time the function is called. */
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551 ulLastParameter1 = ulParameter1;
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552 ulLastParameter2 = ulParameter2;
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554 /* Remove compiler warnings in case configASSERT() is not defined. */
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555 ( void ) ulLastParameter1;
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556 ( void ) ulLastParameter2;
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558 /*-----------------------------------------------------------*/
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560 static void prvTestTimerCallback( TimerHandle_t xTimer )
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562 /* This is the callback function for the timer accessed by
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563 prvDemonstrateTimerQueryFunctions(). The callback does not do anything. */
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566 /*-----------------------------------------------------------*/
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568 static void prvDemonstrateTimerQueryFunctions( void )
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570 static TimerHandle_t xTimer = NULL;
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571 const char *pcTimerName = "TestTimer";
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572 volatile TickType_t xExpiryTime;
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573 const TickType_t xDontBlock = 0;
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575 if( xTimer == NULL )
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577 xTimer = xTimerCreate( pcTimerName, portMAX_DELAY, pdTRUE, NULL, prvTestTimerCallback );
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579 if( xTimer != NULL )
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581 /* Called from the idle task so a block time must not be
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583 xTimerStart( xTimer, xDontBlock );
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587 if( xTimer != NULL )
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589 /* Demonstrate querying a timer's name. */
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590 configASSERT( strcmp( pcTimerGetName( xTimer ), pcTimerName ) == 0 );
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592 /* Demonstrate querying a timer's period. */
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593 configASSERT( xTimerGetPeriod( xTimer ) == portMAX_DELAY );
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595 /* Demonstrate querying a timer's next expiry time, although nothing is
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596 done with the returned value. Note if the expiry time is less than the
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597 maximum tick count then the expiry time has overflowed from the current
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598 time. In this case the expiry time was set to portMAX_DELAY, so it is
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599 expected to be less than the current time until the current time has
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600 itself overflowed. */
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601 xExpiryTime = xTimerGetExpiryTime( xTimer );
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602 ( void ) xExpiryTime;
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605 /*-----------------------------------------------------------*/
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607 static void prvDemonstratePendingFunctionCall( void )
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609 static uint32_t ulParameter1 = 1000UL, ulParameter2 = 0UL;
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610 const TickType_t xDontBlock = 0; /* This is called from the idle task so must *not* attempt to block. */
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612 /* prvPendedFunction() just expects the parameters to be incremented by one
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613 each time it is called. */
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617 /* Pend the function call, sending the parameters. */
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618 xTimerPendFunctionCall( prvPendedFunction, ( void * ) ulParameter1, ulParameter2, xDontBlock );
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620 /*-----------------------------------------------------------*/
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622 static void prvDemonstrateTaskStateAndHandleGetFunctions( void )
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624 TaskHandle_t xIdleTaskHandle, xTimerTaskHandle;
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626 static portBASE_TYPE xPerformedOneShotTests = pdFALSE;
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627 TaskHandle_t xTestTask;
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628 TaskStatus_t xTaskInfo;
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629 extern StackType_t uxTimerTaskStack[];
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630 static TickType_t xLastIdleExecutionTime = 0;
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631 TickType_t xIdleExecutionTime;
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633 /* Demonstrate the use of the xTimerGetTimerDaemonTaskHandle() and
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634 xTaskGetIdleTaskHandle() functions. Also try using the function that sets
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635 the task number. */
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636 xIdleTaskHandle = xTaskGetIdleTaskHandle();
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637 xTimerTaskHandle = xTimerGetTimerDaemonTaskHandle();
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639 /* This is the idle hook, so the current task handle should equal the
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640 returned idle task handle. */
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641 if( xTaskGetCurrentTaskHandle() != xIdleTaskHandle )
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643 pcStatusMessage = "Error: Returned idle task handle was incorrect";
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646 /* Check the same handle is obtained using the idle task's name. First try
\r
647 with the wrong name, then the right name. */
\r
648 if( xTaskGetHandle( "Idle" ) == xIdleTaskHandle )
\r
650 pcStatusMessage = "Error: Returned handle for name Idle was incorrect";
\r
653 if( xTaskGetHandle( "IDLE" ) != xIdleTaskHandle )
\r
655 pcStatusMessage = "Error: Returned handle for name Idle was incorrect";
\r
658 /* Check the timer task handle was returned correctly. */
\r
659 pcTaskName = pcTaskGetName( xTimerTaskHandle );
\r
660 if( strcmp( pcTaskName, "Tmr Svc" ) != 0 )
\r
662 pcStatusMessage = "Error: Returned timer task handle was incorrect";
\r
665 if( xTaskGetHandle( "Tmr Svc" ) != xTimerTaskHandle )
\r
667 pcStatusMessage = "Error: Returned handle for name Tmr Svc was incorrect";
\r
670 /* This task is running, make sure it's state is returned as running. */
\r
671 if( eTaskStateGet( xIdleTaskHandle ) != eRunning )
\r
673 pcStatusMessage = "Error: Returned idle task state was incorrect";
\r
676 /* If this task is running, then the timer task must be blocked. */
\r
677 if( eTaskStateGet( xTimerTaskHandle ) != eBlocked )
\r
679 pcStatusMessage = "Error: Returned timer task state was incorrect";
\r
682 /* Also with the vTaskGetInfo() function. */
\r
683 vTaskGetInfo( xTimerTaskHandle, /* The task being queried. */
\r
684 &xTaskInfo, /* The structure into which information on the task will be written. */
\r
685 pdTRUE, /* Include the task's high watermark in the structure. */
\r
686 eInvalid ); /* Include the task state in the structure. */
\r
688 /* Check the information returned by vTaskGetInfo() is as expected. */
\r
689 if( ( xTaskInfo.eCurrentState != eBlocked ) ||
\r
690 ( strcmp( xTaskInfo.pcTaskName, "Tmr Svc" ) != 0 ) ||
\r
691 ( xTaskInfo.uxCurrentPriority != configTIMER_TASK_PRIORITY ) ||
\r
692 ( xTaskInfo.pxStackBase != uxTimerTaskStack ) ||
\r
693 ( xTaskInfo.xHandle != xTimerTaskHandle ) )
\r
695 pcStatusMessage = "Error: vTaskGetInfo() returned incorrect information about the timer task";
\r
698 /* Other tests that should only be performed once follow. The test task
\r
699 is not created on each iteration because to do so would cause the death
\r
700 task to report an error (too many tasks running). */
\r
701 if( xPerformedOneShotTests == pdFALSE )
\r
703 /* Don't run this part of the test again. */
\r
704 xPerformedOneShotTests = pdTRUE;
\r
706 /* Create a test task to use to test other eTaskStateGet() return values. */
\r
707 if( xTaskCreate( prvTestTask, "Test", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, &xTestTask ) == pdPASS )
\r
709 /* If this task is running, the test task must be in the ready state. */
\r
710 if( eTaskStateGet( xTestTask ) != eReady )
\r
712 pcStatusMessage = "Error: Returned test task state was incorrect 1";
\r
715 /* Now suspend the test task and check its state is reported correctly. */
\r
716 vTaskSuspend( xTestTask );
\r
717 if( eTaskStateGet( xTestTask ) != eSuspended )
\r
719 pcStatusMessage = "Error: Returned test task state was incorrect 2";
\r
722 /* Now delete the task and check its state is reported correctly. */
\r
723 vTaskDelete( xTestTask );
\r
724 if( eTaskStateGet( xTestTask ) != eDeleted )
\r
726 pcStatusMessage = "Error: Returned test task state was incorrect 3";
\r
731 xIdleExecutionTime = xTaskGetIdleRunTimeCounter();
\r
732 if( xIdleExecutionTime == xLastIdleExecutionTime )
\r
734 pcStatusMessage = "Error: Total amount of Idle task execution time did not change";
\r
736 xLastIdleExecutionTime = xIdleExecutionTime;
\r
738 /*-----------------------------------------------------------*/
\r
740 static void prvDemoQueueSpaceFunctions( void *pvParameters )
\r
742 QueueHandle_t xQueue = NULL;
\r
743 const unsigned portBASE_TYPE uxQueueLength = 10;
\r
744 unsigned portBASE_TYPE uxReturn, x;
\r
746 /* Remove compiler warnings. */
\r
747 ( void ) pvParameters;
\r
749 /* Create the queue that will be used. Nothing is actually going to be
\r
750 sent or received so the queue item size is set to 0. */
\r
751 xQueue = xQueueCreate( uxQueueLength, 0 );
\r
752 configASSERT( xQueue );
\r
756 for( x = 0; x < uxQueueLength; x++ )
\r
758 /* Ask how many messages are available... */
\r
759 uxReturn = uxQueueMessagesWaiting( xQueue );
\r
761 /* Check the number of messages being reported as being available
\r
762 is as expected, and force an assert if not. */
\r
763 if( uxReturn != x )
\r
765 /* xQueue cannot be NULL so this is deliberately causing an
\r
766 assert to be triggered as there is an error. */
\r
767 configASSERT( xQueue == NULL );
\r
770 /* Ask how many spaces remain in the queue... */
\r
771 uxReturn = uxQueueSpacesAvailable( xQueue );
\r
773 /* Check the number of spaces being reported as being available
\r
774 is as expected, and force an assert if not. */
\r
775 if( uxReturn != ( uxQueueLength - x ) )
\r
777 /* xQueue cannot be NULL so this is deliberately causing an
\r
778 assert to be triggered as there is an error. */
\r
779 configASSERT( xQueue == NULL );
\r
782 /* Fill one more space in the queue. */
\r
783 xQueueSendToBack( xQueue, NULL, 0 );
\r
786 /* Perform the same check while the queue is full. */
\r
787 uxReturn = uxQueueMessagesWaiting( xQueue );
\r
788 if( uxReturn != uxQueueLength )
\r
790 configASSERT( xQueue == NULL );
\r
793 uxReturn = uxQueueSpacesAvailable( xQueue );
\r
795 if( uxReturn != 0 )
\r
797 configASSERT( xQueue == NULL );
\r
800 /* The queue is full, start again. */
\r
801 xQueueReset( xQueue );
\r
803 #if( configUSE_PREEMPTION == 0 )
\r
808 /*-----------------------------------------------------------*/
\r
810 static void prvPermanentlyBlockingSemaphoreTask( void *pvParameters )
\r
812 SemaphoreHandle_t xSemaphore;
\r
814 /* Prevent compiler warning about unused parameter in the case that
\r
815 configASSERT() is not defined. */
\r
816 ( void ) pvParameters;
\r
818 /* This task should block on a semaphore, and never return. */
\r
819 xSemaphore = xSemaphoreCreateBinary();
\r
820 configASSERT( xSemaphore );
\r
822 xSemaphoreTake( xSemaphore, portMAX_DELAY );
\r
824 /* The above xSemaphoreTake() call should never return, force an assert if
\r
826 configASSERT( pvParameters != NULL );
\r
827 vTaskDelete( NULL );
\r
829 /*-----------------------------------------------------------*/
\r
831 static void prvPermanentlyBlockingNotificationTask( void *pvParameters )
\r
833 /* Prevent compiler warning about unused parameter in the case that
\r
834 configASSERT() is not defined. */
\r
835 ( void ) pvParameters;
\r
837 /* This task should block on a task notification, and never return. */
\r
838 ulTaskNotifyTake( pdTRUE, portMAX_DELAY );
\r
840 /* The above ulTaskNotifyTake() call should never return, force an assert
\r
842 configASSERT( pvParameters != NULL );
\r
843 vTaskDelete( NULL );
\r
845 /*-----------------------------------------------------------*/
\r
847 static void prvReloadModeTestTimerCallback( TimerHandle_t xTimer )
\r
849 uint32_t ulTimerID;
\r
851 /* Increment the timer's ID to show the callback has executed. */
\r
852 ulTimerID = ( uint32_t ) pvTimerGetTimerID( xTimer );
\r
854 vTimerSetTimerID( xTimer, ( void * ) ulTimerID );
\r
856 /*-----------------------------------------------------------*/
\r
858 static void prvDemonstrateChangingTimerReloadMode( void *pvParameters )
\r
860 TimerHandle_t xTimer;
\r
861 const char * const pcTimerName = "TestTimer";
\r
862 const TickType_t x100ms = pdMS_TO_TICKS( 100UL );
\r
864 /* Avoid compiler warnings about unused parameter. */
\r
865 ( void ) pvParameters;
\r
867 xTimer = xTimerCreate( pcTimerName,
\r
869 pdFALSE, /* Created as a one shot timer. */
\r
871 prvReloadModeTestTimerCallback );
\r
872 configASSERT( xTimer );
\r
873 configASSERT( xTimerIsTimerActive( xTimer ) == pdFALSE );
\r
874 configASSERT( xTimerGetTimerDaemonTaskHandle() != NULL );
\r
875 configASSERT( strcmp( pcTimerName, pcTimerGetName( xTimer ) ) == 0 );
\r
876 configASSERT( xTimerGetPeriod( xTimer ) == x100ms );
\r
878 /* Timer was created as a one shot timer. Its callback just increments the
\r
879 timer's ID - so set the ID to 0, let the timer run for a number of timeout
\r
880 periods, then check the timer has only executed once. */
\r
881 vTimerSetTimerID( xTimer, ( void * ) 0 );
\r
882 xTimerStart( xTimer, portMAX_DELAY );
\r
883 vTaskDelay( 3UL * x100ms );
\r
884 configASSERT( ( ( uint32_t ) ( pvTimerGetTimerID( xTimer ) ) ) == 1UL );
\r
886 /* Now change the timer to be an autoreload timer and check it executes
\r
887 the expected number of times. */
\r
888 vTimerSetReloadMode( xTimer, pdTRUE );
\r
889 vTimerSetTimerID( xTimer, ( void * ) 0 );
\r
890 xTimerStart( xTimer, 0 );
\r
891 vTaskDelay( ( 3UL * x100ms ) + ( x100ms / 2UL ) ); /* Three full periods. */
\r
892 configASSERT( ( uint32_t ) ( pvTimerGetTimerID( xTimer ) ) == 3UL );
\r
893 configASSERT( xTimerStop( xTimer, 0 ) != pdFAIL );
\r
895 /* Now change the timer back to be a one shot timer and check it only
\r
897 vTimerSetReloadMode( xTimer, pdFALSE );
\r
898 vTimerSetTimerID( xTimer, ( void * ) 0 );
\r
899 xTimerStart( xTimer, 0 );
\r
900 vTaskDelay( 3UL * x100ms );
\r
901 configASSERT( xTimerStop( xTimer, 0 ) != pdFAIL );
\r
902 configASSERT( ( uint32_t ) ( pvTimerGetTimerID( xTimer ) ) == 1UL );
\r
904 /* Clean up at the end. */
\r
905 xTimerDelete( xTimer, portMAX_DELAY );
\r
906 vTaskDelete( NULL );
\r