2 FreeRTOS V7.3.0 - Copyright (C) 2012 Real Time Engineers Ltd.
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4 FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME. PLEASE VISIT
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5 http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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7 ***************************************************************************
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9 * FreeRTOS tutorial books are available in pdf and paperback. *
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10 * Complete, revised, and edited pdf reference manuals are also *
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13 * Purchasing FreeRTOS documentation will not only help you, by *
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14 * ensuring you get running as quickly as possible and with an *
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15 * in-depth knowledge of how to use FreeRTOS, it will also help *
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16 * the FreeRTOS project to continue with its mission of providing *
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17 * professional grade, cross platform, de facto standard solutions *
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18 * for microcontrollers - completely free of charge! *
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20 * >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
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22 * Thank you for using FreeRTOS, and thank you for your support! *
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24 ***************************************************************************
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27 This file is part of the FreeRTOS distribution.
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29 FreeRTOS is free software; you can redistribute it and/or modify it under
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30 the terms of the GNU General Public License (version 2) as published by the
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31 Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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32 >>>NOTE<<< The modification to the GPL is included to allow you to
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33 distribute a combined work that includes FreeRTOS without being obliged to
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34 provide the source code for proprietary components outside of the FreeRTOS
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35 kernel. FreeRTOS is distributed in the hope that it will be useful, but
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36 WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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37 or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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38 more details. You should have received a copy of the GNU General Public
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39 License and the FreeRTOS license exception along with FreeRTOS; if not it
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40 can be viewed here: http://www.freertos.org/a00114.html and also obtained
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41 by writing to Richard Barry, contact details for whom are available on the
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46 ***************************************************************************
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48 * Having a problem? Start by reading the FAQ "My application does *
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49 * not run, what could be wrong?" *
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51 * http://www.FreeRTOS.org/FAQHelp.html *
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53 ***************************************************************************
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56 http://www.FreeRTOS.org - Documentation, training, latest versions, license
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57 and contact details.
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59 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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60 including FreeRTOS+Trace - an indispensable productivity tool.
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62 Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell
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63 the code with commercial support, indemnification, and middleware, under
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64 the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also
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65 provide a safety engineered and independently SIL3 certified version under
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66 the SafeRTOS brand: http://www.SafeRTOS.com.
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70 NOTE : Tasks run in system mode and the scheduler runs in Supervisor mode.
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71 The processor MUST be in supervisor mode when vTaskStartScheduler is
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72 called. The demo applications included in the FreeRTOS.org download switch
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73 to supervisor mode prior to main being called. If you are not using one of
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74 these demo application projects then ensure Supervisor mode is used.
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79 * Creates all the application tasks, then starts the scheduler.
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81 * A task defined by the function vBasicWEBServer is created. This executes
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82 * the lwIP stack and basic WEB server sample. A task defined by the function
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83 * vUSBCDCTask. This executes the USB to serial CDC example. All the other
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84 * tasks are from the set of standard demo tasks. The WEB documentation
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85 * provides more details of the standard demo application tasks.
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87 * Main.c also creates a task called "Check". This only executes every three
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88 * seconds but has the highest priority so is guaranteed to get processor time.
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89 * Its main function is to check the status of all the other demo application
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90 * tasks. LED mainCHECK_LED is toggled every three seconds by the check task
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91 * should no error conditions be detected in any of the standard demo tasks.
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92 * The toggle rate increasing to 500ms indicates that at least one error has
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95 * Main.c includes an idle hook function that simply periodically sends data
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96 * to the USB task for transmission.
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100 Changes from V3.2.2
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102 + Modified the stack sizes used by some tasks to permit use of the
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103 command line GCC tools.
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106 /* Library includes. */
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107 #include <string.h>
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110 /* Scheduler includes. */
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111 #include "FreeRTOS.h"
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114 /* Demo application includes. */
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115 #include "partest.h"
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117 #include "semtest.h"
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119 #include "integer.h"
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120 #include "BlockQ.h"
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121 #include "BasicWEB.h"
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122 #include "USB-CDC.h"
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124 /* lwIP includes. */
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125 #include "lwip/api.h"
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127 /* Hardware specific headers. */
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129 #include "AT91SAM7X256.h"
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131 /* Priorities/stacks for the various tasks within the demo application. */
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132 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 1 )
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133 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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134 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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135 #define mainFLASH_PRIORITY ( tskIDLE_PRIORITY + 2 )
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136 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 1 )
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137 #define mainWEBSERVER_PRIORITY ( tskIDLE_PRIORITY + 2 )
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138 #define mainUSB_PRIORITY ( tskIDLE_PRIORITY + 1 )
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139 #define mainUSB_TASK_STACK ( 200 )
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141 /* The rate at which the on board LED will toggle when there is/is not an
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143 #define mainNO_ERROR_FLASH_PERIOD ( ( portTickType ) 3000 / portTICK_RATE_MS )
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144 #define mainERROR_FLASH_PERIOD ( ( portTickType ) 500 / portTICK_RATE_MS )
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146 /* The rate at which the idle hook sends data to the USB port. */
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147 #define mainUSB_TX_FREQUENCY ( 100 / portTICK_RATE_MS )
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149 /* The string that is transmitted down the USB port. */
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150 #define mainFIRST_TX_CHAR 'a'
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151 #define mainLAST_TX_CHAR 'z'
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153 /* The LED used by the check task to indicate the system status. */
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154 #define mainCHECK_LED ( 3 )
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155 /*-----------------------------------------------------------*/
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158 * Checks that all the demo application tasks are still executing without error
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159 * - as described at the top of the file.
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161 static long prvCheckOtherTasksAreStillRunning( void );
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164 * The task that executes at the highest priority and calls
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165 * prvCheckOtherTasksAreStillRunning(). See the description at the top
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168 static void vErrorChecks( void *pvParameters );
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171 * Configure the processor for use with the Atmel demo board. This is very
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172 * minimal as most of the setup is performed in the startup code.
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174 static void prvSetupHardware( void );
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177 * The idle hook is just used to stream data to the USB port.
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179 void vApplicationIdleHook( void );
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180 /*-----------------------------------------------------------*/
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183 * Setup hardware then start all the demo application tasks.
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187 /* Setup the ports. */
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188 prvSetupHardware();
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190 /* Setup the IO required for the LED's. */
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191 vParTestInitialise();
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196 /* Create the lwIP task. This uses the lwIP RTOS abstraction layer.*/
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197 sys_thread_new( vBasicWEBServer, ( void * ) NULL, mainWEBSERVER_PRIORITY );
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199 /* Create the demo USB CDC task. */
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200 xTaskCreate( vUSBCDCTask, ( signed char * ) "USB", mainUSB_TASK_STACK, NULL, mainUSB_PRIORITY, NULL );
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202 /* Create the standard demo application tasks. */
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203 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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204 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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205 vStartLEDFlashTasks( mainFLASH_PRIORITY );
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206 vStartIntegerMathTasks( tskIDLE_PRIORITY );
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207 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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209 /* Start the check task - which is defined in this file. */
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210 xTaskCreate( vErrorChecks, ( signed char * ) "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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212 /* Finally, start the scheduler.
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214 NOTE : Tasks run in system mode and the scheduler runs in Supervisor mode.
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215 The processor MUST be in supervisor mode when vTaskStartScheduler is
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216 called. The demo applications included in the FreeRTOS.org download switch
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217 to supervisor mode prior to main being called. If you are not using one of
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218 these demo application projects then ensure Supervisor mode is used here. */
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219 vTaskStartScheduler();
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221 /* Should never get here! */
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224 /*-----------------------------------------------------------*/
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227 static void prvSetupHardware( void )
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229 /* When using the JTAG debugger the hardware is not always initialised to
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230 the correct default state. This line just ensures that this does not
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231 cause all interrupts to be masked at the start. */
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232 AT91C_BASE_AIC->AIC_EOICR = 0;
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234 /* Most setup is performed by the low level init function called from the
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237 Configure the PIO Lines corresponding to LED1 to LED4 to be outputs as
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238 well as the UART Tx line. */
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239 AT91C_BASE_PIOB->PIO_PER = LED_MASK; // Set in PIO mode
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240 AT91C_BASE_PIOB->PIO_OER = LED_MASK; // Configure in Output
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243 /* Enable the peripheral clock. */
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244 AT91C_BASE_PMC->PMC_PCER = 1 << AT91C_ID_PIOA;
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245 AT91C_BASE_PMC->PMC_PCER = 1 << AT91C_ID_PIOB;
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246 AT91C_BASE_PMC->PMC_PCER = 1 << AT91C_ID_EMAC;
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248 /*-----------------------------------------------------------*/
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250 static void vErrorChecks( void *pvParameters )
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252 portTickType xDelayPeriod = mainNO_ERROR_FLASH_PERIOD;
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253 portTickType xLastWakeTime;
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255 /* The parameters are not used. */
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256 ( void ) pvParameters;
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258 /* Initialise xLastWakeTime to ensure the first call to vTaskDelayUntil()
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259 functions correctly. */
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260 xLastWakeTime = xTaskGetTickCount();
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262 /* Cycle for ever, delaying then checking all the other tasks are still
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263 operating without error. If an error is detected then the delay period
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264 is decreased from mainNO_ERROR_FLASH_PERIOD to mainERROR_FLASH_PERIOD so
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265 the Check LED flash rate will increase. */
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268 /* Delay until it is time to execute again. The delay period is
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269 shorter following an error. */
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270 vTaskDelayUntil( &xLastWakeTime, xDelayPeriod );
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272 /* Check all the standard demo application tasks are executing without
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274 if( prvCheckOtherTasksAreStillRunning() != pdPASS )
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276 /* An error has been detected in one of the tasks - flash faster. */
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277 xDelayPeriod = mainERROR_FLASH_PERIOD;
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280 vParTestToggleLED( mainCHECK_LED );
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283 /*-----------------------------------------------------------*/
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285 static long prvCheckOtherTasksAreStillRunning( void )
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287 long lReturn = ( long ) pdPASS;
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289 /* Check all the demo tasks (other than the flash tasks) to ensure
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290 that they are all still running, and that none of them have detected
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293 if( xArePollingQueuesStillRunning() != pdTRUE )
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295 lReturn = ( long ) pdFAIL;
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298 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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300 lReturn = ( long ) pdFAIL;
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303 if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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305 lReturn = ( long ) pdFAIL;
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308 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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310 lReturn = ( long ) pdFAIL;
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315 /*-----------------------------------------------------------*/
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317 void vApplicationIdleHook( void )
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319 static portTickType xLastTx = 0;
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322 /* The idle hook simply sends a string of characters to the USB port.
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323 The characters will be buffered and sent once the port is connected. */
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324 if( ( xTaskGetTickCount() - xLastTx ) > mainUSB_TX_FREQUENCY )
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326 xLastTx = xTaskGetTickCount();
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327 for( cTxByte = mainFIRST_TX_CHAR; cTxByte <= mainLAST_TX_CHAR; cTxByte++ )
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329 vUSBSendByte( cTxByte );
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