2 FreeRTOS V4.0.1 - Copyright (C) 2003-2006 Richard Barry.
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4 This file is part of the FreeRTOS distribution.
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6 FreeRTOS is free software; you can redistribute it and/or modify
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7 it under the terms of the GNU General Public License as published by
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8 the Free Software Foundation; either version 2 of the License, or
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9 (at your option) any later version.
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11 FreeRTOS is distributed in the hope that it will be useful,
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12 but WITHOUT ANY WARRANTY; without even the implied warranty of
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13 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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14 GNU General Public License for more details.
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16 You should have received a copy of the GNU General Public License
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17 along with FreeRTOS; if not, write to the Free Software
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18 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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20 A special exception to the GPL can be applied should you wish to distribute
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21 a combined work that includes FreeRTOS, without being obliged to provide
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22 the source code for any proprietary components. See the licensing section
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23 of http://www.FreeRTOS.org for full details of how and when the exception
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26 ***************************************************************************
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27 See http://www.FreeRTOS.org for documentation, latest information, license
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28 and contact details. Please ensure to read the configuration and relevant
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29 port sections of the online documentation.
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30 ***************************************************************************
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34 * Creates eight tasks, each of which loops continuously performing an (emulated)
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35 * floating point calculation.
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37 * All the tasks run at the idle priority and never block or yield. This causes
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38 * all eight tasks to time slice with the idle task. Running at the idle priority
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39 * means that these tasks will get pre-empted any time another task is ready to run
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40 * or a time slice occurs. More often than not the pre-emption will occur mid
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41 * calculation, creating a good test of the schedulers context switch mechanism - a
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42 * calculation producing an unexpected result could be a symptom of a corruption in
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43 * the context of a task.
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49 /* Scheduler include files. */
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50 #include "FreeRTOS.h"
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53 /* Demo program include files. */
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56 #define mathSTACK_SIZE configMINIMAL_STACK_SIZE
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57 #define mathNUMBER_OF_TASKS ( 8 )
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59 /* Four tasks, each of which performs a different floating point calculation.
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60 Each of the four is created twice. */
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61 static portTASK_FUNCTION_PROTO( vCompetingMathTask1, pvParameters );
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62 static portTASK_FUNCTION_PROTO( vCompetingMathTask2, pvParameters );
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63 static portTASK_FUNCTION_PROTO( vCompetingMathTask3, pvParameters );
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64 static portTASK_FUNCTION_PROTO( vCompetingMathTask4, pvParameters );
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66 /* These variables are used to check that all the tasks are still running. If a
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67 task gets a calculation wrong it will
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68 stop incrementing its check variable. */
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69 static volatile unsigned portSHORT usTaskCheck[ mathNUMBER_OF_TASKS ] = { ( unsigned portSHORT ) 0 };
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71 /*-----------------------------------------------------------*/
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73 void vStartMathTasks( unsigned portBASE_TYPE uxPriority )
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75 xTaskCreate( vCompetingMathTask1, ( signed portCHAR * ) "Math1", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 0 ] ), uxPriority, NULL );
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76 xTaskCreate( vCompetingMathTask2, ( signed portCHAR * ) "Math2", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 1 ] ), uxPriority, NULL );
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77 xTaskCreate( vCompetingMathTask3, ( signed portCHAR * ) "Math3", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 2 ] ), uxPriority, NULL );
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78 xTaskCreate( vCompetingMathTask4, ( signed portCHAR * ) "Math4", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 3 ] ), uxPriority, NULL );
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79 xTaskCreate( vCompetingMathTask1, ( signed portCHAR * ) "Math5", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 4 ] ), uxPriority, NULL );
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80 xTaskCreate( vCompetingMathTask2, ( signed portCHAR * ) "Math6", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 5 ] ), uxPriority, NULL );
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81 xTaskCreate( vCompetingMathTask3, ( signed portCHAR * ) "Math7", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 6 ] ), uxPriority, NULL );
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82 xTaskCreate( vCompetingMathTask4, ( signed portCHAR * ) "Math8", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 7 ] ), uxPriority, NULL );
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84 /*-----------------------------------------------------------*/
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86 static portTASK_FUNCTION( vCompetingMathTask1, pvParameters )
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88 volatile portDOUBLE d1, d2, d3, d4;
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89 volatile unsigned portSHORT *pusTaskCheckVariable;
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90 volatile portDOUBLE dAnswer;
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91 portSHORT sError = pdFALSE;
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97 dAnswer = ( d1 + d2 ) * d3;
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99 /* The variable this task increments to show it is still running is passed in
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100 as the parameter. */
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101 pusTaskCheckVariable = ( unsigned portSHORT * ) pvParameters;
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103 /* Keep performing a calculation and checking the result against a constant. */
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110 d4 = ( d1 + d2 ) * d3;
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112 #if configUSE_PREEMPTION == 0
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116 /* If the calculation does not match the expected constant, stop the
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117 increment of the check variable. */
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118 if( fabs( d4 - dAnswer ) > 0.001 )
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123 if( sError == pdFALSE )
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125 /* If the calculation has always been correct, increment the check
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126 variable so we know this task is still running okay. */
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127 ( *pusTaskCheckVariable )++;
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130 #if configUSE_PREEMPTION == 0
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136 /*-----------------------------------------------------------*/
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138 static portTASK_FUNCTION( vCompetingMathTask2, pvParameters )
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140 volatile portDOUBLE d1, d2, d3, d4;
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141 volatile unsigned portSHORT *pusTaskCheckVariable;
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142 volatile portDOUBLE dAnswer;
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143 portSHORT sError = pdFALSE;
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149 dAnswer = ( d1 / d2 ) * d3;
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152 /* The variable this task increments to show it is still running is passed in
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153 as the parameter. */
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154 pusTaskCheckVariable = ( unsigned portSHORT * ) pvParameters;
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156 /* Keep performing a calculation and checking the result against a constant. */
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163 d4 = ( d1 / d2 ) * d3;
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165 #if configUSE_PREEMPTION == 0
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169 /* If the calculation does not match the expected constant, stop the
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170 increment of the check variable. */
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171 if( fabs( d4 - dAnswer ) > 0.001 )
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176 if( sError == pdFALSE )
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178 /* If the calculation has always been correct, increment the check
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179 variable so we know
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180 this task is still running okay. */
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181 ( *pusTaskCheckVariable )++;
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184 #if configUSE_PREEMPTION == 0
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189 /*-----------------------------------------------------------*/
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191 static portTASK_FUNCTION( vCompetingMathTask3, pvParameters )
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193 volatile portDOUBLE *pdArray, dTotal1, dTotal2, dDifference;
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194 volatile unsigned portSHORT *pusTaskCheckVariable;
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195 const size_t xArraySize = 10;
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197 portSHORT sError = pdFALSE;
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199 /* The variable this task increments to show it is still running is passed in
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200 as the parameter. */
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201 pusTaskCheckVariable = ( unsigned portSHORT * ) pvParameters;
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203 pdArray = ( portDOUBLE * ) pvPortMalloc( xArraySize * sizeof( portDOUBLE ) );
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205 /* Keep filling an array, keeping a running total of the values placed in the
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206 array. Then run through the array adding up all the values. If the two totals
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207 do not match, stop the check variable from incrementing. */
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213 for( xPosition = 0; xPosition < xArraySize; xPosition++ )
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215 pdArray[ xPosition ] = ( portDOUBLE ) xPosition + 5.5;
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216 dTotal1 += ( portDOUBLE ) xPosition + 5.5;
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219 #if configUSE_PREEMPTION == 0
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223 for( xPosition = 0; xPosition < xArraySize; xPosition++ )
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225 dTotal2 += pdArray[ xPosition ];
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228 dDifference = dTotal1 - dTotal2;
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229 if( fabs( dDifference ) > 0.001 )
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234 #if configUSE_PREEMPTION == 0
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238 if( sError == pdFALSE )
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240 /* If the calculation has always been correct, increment the check
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241 variable so we know this task is still running okay. */
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242 ( *pusTaskCheckVariable )++;
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246 /*-----------------------------------------------------------*/
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248 static portTASK_FUNCTION( vCompetingMathTask4, pvParameters )
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250 volatile portDOUBLE *pdArray, dTotal1, dTotal2, dDifference;
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251 volatile unsigned portSHORT *pusTaskCheckVariable;
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252 const size_t xArraySize = 10;
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254 portSHORT sError = pdFALSE;
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256 /* The variable this task increments to show it is still running is passed in
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257 as the parameter. */
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258 pusTaskCheckVariable = ( unsigned portSHORT * ) pvParameters;
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260 pdArray = ( portDOUBLE * ) pvPortMalloc( xArraySize * sizeof( portDOUBLE ) );
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262 /* Keep filling an array, keeping a running total of the values placed in the
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263 array. Then run through the array adding up all the values. If the two totals
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264 do not match, stop the check variable from incrementing. */
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270 for( xPosition = 0; xPosition < xArraySize; xPosition++ )
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272 pdArray[ xPosition ] = ( portDOUBLE ) xPosition * 12.123;
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273 dTotal1 += ( portDOUBLE ) xPosition * 12.123;
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276 #if configUSE_PREEMPTION == 0
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280 for( xPosition = 0; xPosition < xArraySize; xPosition++ )
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282 dTotal2 += pdArray[ xPosition ];
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285 dDifference = dTotal1 - dTotal2;
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286 if( fabs( dDifference ) > 0.001 )
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291 #if configUSE_PREEMPTION == 0
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295 if( sError == pdFALSE )
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297 /* If the calculation has always been correct, increment the check
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298 variable so we know this task is still running okay. */
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299 ( *pusTaskCheckVariable )++;
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303 /*-----------------------------------------------------------*/
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305 /* This is called to check that all the created tasks are still running. */
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306 portBASE_TYPE xAreMathsTaskStillRunning( void )
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308 /* Keep a history of the check variables so we know if they have been incremented
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309 since the last call. */
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310 static unsigned portSHORT usLastTaskCheck[ mathNUMBER_OF_TASKS ] = { ( unsigned portSHORT ) 0 };
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311 portBASE_TYPE xReturn = pdTRUE, xTask;
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313 /* Check the maths tasks are still running by ensuring their check variables
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314 are still incrementing. */
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315 for( xTask = 0; xTask < mathNUMBER_OF_TASKS; xTask++ )
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317 if( usTaskCheck[ xTask ] == usLastTaskCheck[ xTask ] )
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319 /* The check has not incremented so an error exists. */
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323 usLastTaskCheck[ xTask ] = usTaskCheck[ xTask ];
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