2 * FreeRTOS Kernel V10.0.0
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3 * Copyright (C) 2017 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. If you wish to use our Amazon
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14 * FreeRTOS name, please do so in a fair use way that does not cause confusion.
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16 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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17 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
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18 * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
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19 * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
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20 * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
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21 * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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23 * http://www.FreeRTOS.org
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24 * http://aws.amazon.com/freertos
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26 * 1 tab == 4 spaces!
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29 /******************************************************************************
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30 * NOTE 1: This project provides three demo applications. A simple blinky
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31 * style project, a more comprehensive test and demo application, and an
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32 * lwIP example. The mainSELECTED_APPLICATION setting in main.c is used to
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33 * select between the three. See the notes on using mainSELECTED_APPLICATION
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34 * in main.c. This file implements the comprehensive version.
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36 * NOTE 2: This file only contains the source code that is specific to the
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37 * full demo. Generic functions, such FreeRTOS hook functions, and functions
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38 * required to configure the hardware, are defined in main.c.
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40 * NOTE 3: The full demo includes a test that checks the floating point context
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41 * is maintained correctly across task switches. The standard GCC libraries can
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42 * use floating point registers and made this test fail (unless the tasks that
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43 * use the library are given a floating point context as described on the
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44 * documentation page for this demo). printf-stdarg.c is included in this
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45 * project to prevent the standard GCC libraries being linked into the project.
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47 ******************************************************************************
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49 * main_full() creates all the demo application tasks and software timers, then
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50 * starts the scheduler. The web documentation provides more details of the
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51 * standard demo application tasks, which provide no particular functionality,
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52 * but do provide a good example of how to use the FreeRTOS API.
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54 * In addition to the standard demo tasks, the following tasks and tests are
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55 * defined and/or created within this file:
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57 * FreeRTOS+CLI command console. The command console is access through the
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58 * UART to USB connector on the ZC702 Zynq development board (marked J2). For
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59 * reasons of robustness testing the UART driver is deliberately written to be
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60 * inefficient and should not be used as a template for a production driver.
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61 * Type "help" to see a list of registered commands. The FreeRTOS+CLI license
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62 * is different to the FreeRTOS license, see http://www.FreeRTOS.org/cli for
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63 * license and usage details. The default baud rate is 115200.
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65 * "Reg test" tasks - These fill both the core and floating point registers with
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66 * known values, then check that each register maintains its expected value for
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67 * the lifetime of the task. Each task uses a different set of values. The reg
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68 * test tasks execute with a very low priority, so get preempted very
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69 * frequently. A register containing an unexpected value is indicative of an
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70 * error in the context switching mechanism.
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72 * "Check" task - The check task period is initially set to three seconds. The
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73 * task checks that all the standard demo tasks, and the register check tasks,
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74 * are not only still executing, but are executing without reporting any errors.
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75 * If the check task discovers that a task has either stalled, or reported an
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76 * error, then it changes its own execution period from the initial three
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77 * seconds, to just 200ms. The check task also toggles an LED each time it is
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78 * called. This provides a visual indication of the system status: If the LED
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79 * toggles every three seconds, then no issues have been discovered. If the LED
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80 * toggles every 200ms, then an issue has been discovered with at least one
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84 /* Standard includes. */
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87 /* Kernel includes. */
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88 #include "FreeRTOS.h"
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93 /* Standard demo application includes. */
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95 #include "semtest.h"
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96 #include "dynamic.h"
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98 #include "blocktim.h"
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99 #include "countsem.h"
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100 #include "GenQTest.h"
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101 #include "recmutex.h"
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103 #include "partest.h"
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104 #include "comtest2.h"
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105 #include "serial.h"
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106 #include "TimerDemo.h"
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107 #include "QueueOverwrite.h"
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108 #include "IntQueue.h"
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109 #include "EventGroupsDemo.h"
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110 #include "TaskNotify.h"
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111 #include "IntSemTest.h"
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112 #include "StaticAllocation.h"
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113 #include "AbortDelay.h"
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116 /* Priorities for the demo application tasks. */
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117 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1UL )
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118 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2UL )
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119 #define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3UL )
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120 #define mainFLOP_TASK_PRIORITY ( tskIDLE_PRIORITY )
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121 #define mainUART_COMMAND_CONSOLE_STACK_SIZE ( configMINIMAL_STACK_SIZE * 3UL )
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122 #define mainCOM_TEST_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
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123 #define mainCHECK_TASK_PRIORITY ( configMAX_PRIORITIES - 1 )
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124 #define mainQUEUE_OVERWRITE_PRIORITY ( tskIDLE_PRIORITY )
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126 /* The priority used by the UART command console task. */
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127 #define mainUART_COMMAND_CONSOLE_TASK_PRIORITY ( configMAX_PRIORITIES - 2 )
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129 /* The LED used by the check timer. */
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130 #define mainCHECK_LED ( 0 )
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132 /* A block time of zero simply means "don't block". */
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133 #define mainDONT_BLOCK ( 0UL )
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135 /* The period after which the check timer will expire, in ms, provided no errors
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136 have been reported by any of the standard demo tasks. ms are converted to the
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137 equivalent in ticks using the portTICK_PERIOD_MS constant. */
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138 #define mainNO_ERROR_CHECK_TASK_PERIOD ( 3000UL / portTICK_PERIOD_MS )
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140 /* The period at which the check timer will expire, in ms, if an error has been
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141 reported in one of the standard demo tasks. ms are converted to the equivalent
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142 in ticks using the portTICK_PERIOD_MS constant. */
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143 #define mainERROR_CHECK_TASK_PERIOD ( 200UL / portTICK_PERIOD_MS )
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145 /* Parameters that are passed into the register check tasks solely for the
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146 purpose of ensuring parameters are passed into tasks correctly. */
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147 #define mainREG_TEST_TASK_1_PARAMETER ( ( void * ) 0x12345678 )
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148 #define mainREG_TEST_TASK_2_PARAMETER ( ( void * ) 0x87654321 )
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150 /* The base period used by the timer test tasks. */
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151 #define mainTIMER_TEST_PERIOD ( 50 )
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153 /*-----------------------------------------------------------*/
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157 * The check task, as described at the top of this file.
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159 static void prvCheckTask( void *pvParameters );
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162 * Register check tasks, and the tasks used to write over and check the contents
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163 * of the FPU registers, as described at the top of this file. The nature of
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164 * these files necessitates that they are written in an assembly file, but the
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165 * entry points are kept in the C file for the convenience of checking the task
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168 static void prvRegTestTaskEntry1( void *pvParameters );
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169 extern void vRegTest1Implementation( void );
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170 static void prvRegTestTaskEntry2( void *pvParameters );
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171 extern void vRegTest2Implementation( void );
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174 * Register commands that can be used with FreeRTOS+CLI. The commands are
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175 * defined in CLI-Commands.c and File-Related-CLI-Command.c respectively.
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177 extern void vRegisterSampleCLICommands( void );
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180 * The task that manages the FreeRTOS+CLI input and output.
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182 extern void vUARTCommandConsoleStart( uint16_t usStackSize, UBaseType_t uxPriority );
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185 * A high priority task that does nothing other than execute at a pseudo random
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186 * time to ensure the other test tasks don't just execute in a repeating
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189 static void prvPseudoRandomiser( void *pvParameters );
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191 /*-----------------------------------------------------------*/
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193 /* The following two variables are used to communicate the status of the
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194 register check tasks to the check task. If the variables keep incrementing,
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195 then the register check tasks have not discovered any errors. If a variable
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196 stops incrementing, then an error has been found. */
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197 volatile unsigned long ulRegTest1LoopCounter = 0UL, ulRegTest2LoopCounter = 0UL;
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199 /* String for display in the web server. It is set to an error message if the
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200 check task detects an error. */
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201 char *pcStatusMessage = "All tasks running without error";
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202 /*-----------------------------------------------------------*/
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204 void main_full( void )
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206 /* Start all the other standard demo/test tasks. They have no particular
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207 functionality, but do demonstrate how to use the FreeRTOS API and test the
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209 vStartInterruptQueueTasks();
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210 vStartDynamicPriorityTasks();
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211 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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212 vCreateBlockTimeTasks();
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213 vStartCountingSemaphoreTasks();
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214 vStartGenericQueueTasks( tskIDLE_PRIORITY );
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215 vStartRecursiveMutexTasks();
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216 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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217 vStartMathTasks( mainFLOP_TASK_PRIORITY );
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218 vStartTimerDemoTask( mainTIMER_TEST_PERIOD );
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219 vStartQueueOverwriteTask( mainQUEUE_OVERWRITE_PRIORITY );
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220 vStartEventGroupTasks();
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221 vStartTaskNotifyTask();
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222 vStartInterruptSemaphoreTasks();
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223 vStartStaticallyAllocatedTasks();
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224 vCreateAbortDelayTasks();
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226 /* Start the tasks that implements the command console on the UART, as
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227 described above. */
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228 vUARTCommandConsoleStart( mainUART_COMMAND_CONSOLE_STACK_SIZE, mainUART_COMMAND_CONSOLE_TASK_PRIORITY );
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230 /* Register the standard CLI commands. */
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231 vRegisterSampleCLICommands();
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233 /* Create the register check tasks, as described at the top of this file */
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234 xTaskCreate( prvRegTestTaskEntry1, "Reg1", configMINIMAL_STACK_SIZE, mainREG_TEST_TASK_1_PARAMETER, tskIDLE_PRIORITY, NULL );
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235 xTaskCreate( prvRegTestTaskEntry2, "Reg2", configMINIMAL_STACK_SIZE, mainREG_TEST_TASK_2_PARAMETER, tskIDLE_PRIORITY, NULL );
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237 /* Create the task that just adds a little random behaviour. */
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238 xTaskCreate( prvPseudoRandomiser, "Rnd", configMINIMAL_STACK_SIZE, NULL, configMAX_PRIORITIES - 1, NULL );
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240 /* Create the task that performs the 'check' functionality, as described at
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241 the top of this file. */
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242 xTaskCreate( prvCheckTask, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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244 /* The set of tasks created by the following function call have to be
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245 created last as they keep account of the number of tasks they expect to see
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247 vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
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249 /* Start the scheduler. */
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250 vTaskStartScheduler();
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252 /* If all is well, the scheduler will now be running, and the following
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253 line will never be reached. If the following line does execute, then
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254 there was either insufficient FreeRTOS heap memory available for the idle
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255 and/or timer tasks to be created, or vTaskStartScheduler() was called from
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256 User mode. See the memory management section on the FreeRTOS web site for
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257 more details on the FreeRTOS heap http://www.freertos.org/a00111.html. The
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258 mode from which main() is called is set in the C start up code and must be
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259 a privileged mode (not user mode). */
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262 /*-----------------------------------------------------------*/
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264 static void prvCheckTask( void *pvParameters )
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266 TickType_t xDelayPeriod = mainNO_ERROR_CHECK_TASK_PERIOD;
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267 TickType_t xLastExecutionTime;
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268 static unsigned long ulLastRegTest1Value = 0, ulLastRegTest2Value = 0;
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269 unsigned long ulErrorFound = pdFALSE;
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271 /* Just to stop compiler warnings. */
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272 ( void ) pvParameters;
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274 /* Initialise xLastExecutionTime so the first call to vTaskDelayUntil()
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275 works correctly. */
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276 xLastExecutionTime = xTaskGetTickCount();
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278 /* Cycle for ever, delaying then checking all the other tasks are still
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279 operating without error. The onboard LED is toggled on each iteration.
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280 If an error is detected then the delay period is decreased from
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281 mainNO_ERROR_CHECK_TASK_PERIOD to mainERROR_CHECK_TASK_PERIOD. This has the
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282 effect of increasing the rate at which the onboard LED toggles, and in so
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283 doing gives visual feedback of the system status. */
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286 /* Delay until it is time to execute again. */
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287 vTaskDelayUntil( &xLastExecutionTime, xDelayPeriod );
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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 have detected an error. */
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291 if( xAreIntQueueTasksStillRunning() != pdTRUE )
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293 ulErrorFound |= 1UL << 0UL;
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296 if( xAreMathsTaskStillRunning() != pdTRUE )
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298 ulErrorFound |= 1UL << 1UL;
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301 if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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303 ulErrorFound |= 1UL << 2UL;
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306 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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308 ulErrorFound |= 1UL << 3UL;
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311 if ( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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313 ulErrorFound |= 1UL << 4UL;
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316 if ( xAreGenericQueueTasksStillRunning() != pdTRUE )
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318 ulErrorFound |= 1UL << 5UL;
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321 if ( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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323 ulErrorFound |= 1UL << 6UL;
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326 if( xIsCreateTaskStillRunning() != pdTRUE )
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328 ulErrorFound |= 1UL << 7UL;
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331 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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333 ulErrorFound |= 1UL << 8UL;
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336 if( xAreTimerDemoTasksStillRunning( ( TickType_t ) mainNO_ERROR_CHECK_TASK_PERIOD ) != pdPASS )
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338 ulErrorFound |= 1UL << 9UL;
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341 if( xAreCountingSemaphoreTasksStillRunning() != pdTRUE )
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343 ulErrorFound |= 1UL << 10UL;
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346 if( xIsQueueOverwriteTaskStillRunning() != pdPASS )
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348 ulErrorFound |= 1UL << 11UL;
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351 if( xAreEventGroupTasksStillRunning() != pdPASS )
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353 ulErrorFound |= 1UL << 12UL;
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356 if( xAreTaskNotificationTasksStillRunning() != pdTRUE )
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358 ulErrorFound |= 1UL << 13UL;
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361 if( xAreInterruptSemaphoreTasksStillRunning() != pdTRUE )
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363 ulErrorFound |= 1UL << 14UL;
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366 if( xAreStaticAllocationTasksStillRunning() != pdPASS )
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368 ulErrorFound |= 1UL << 15UL;
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371 if( xAreAbortDelayTestTasksStillRunning() != pdPASS )
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373 ulErrorFound |= 1UL << 16UL;
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376 /* Check that the register test 1 task is still running. */
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377 if( ulLastRegTest1Value == ulRegTest1LoopCounter )
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379 ulErrorFound |= 1UL << 17UL;
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381 ulLastRegTest1Value = ulRegTest1LoopCounter;
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383 /* Check that the register test 2 task is still running. */
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384 if( ulLastRegTest2Value == ulRegTest2LoopCounter )
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386 ulErrorFound |= 1UL << 18UL;
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388 ulLastRegTest2Value = ulRegTest2LoopCounter;
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390 /* Toggle the check LED to give an indication of the system status. If
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391 the LED toggles every mainNO_ERROR_CHECK_TASK_PERIOD milliseconds then
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392 everything is ok. A faster toggle indicates an error. */
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393 vParTestToggleLED( mainCHECK_LED );
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395 if( ulErrorFound != pdFALSE )
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397 /* An error has been detected in one of the tasks - flash the LED
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398 at a higher frequency to give visible feedback that something has
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399 gone wrong (it might just be that the loop back connector required
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400 by the comtest tasks has not been fitted). */
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401 xDelayPeriod = mainERROR_CHECK_TASK_PERIOD;
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402 pcStatusMessage = "Error found in at least one task.";
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406 /*-----------------------------------------------------------*/
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408 char *pcMainGetTaskStatusMessage( void )
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410 return pcStatusMessage;
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412 /*-----------------------------------------------------------*/
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414 static void prvRegTestTaskEntry1( void *pvParameters )
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416 /* Although the regtest task is written in assembler, its entry point is
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417 written in C for convenience of checking the task parameter is being passed
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419 if( pvParameters == mainREG_TEST_TASK_1_PARAMETER )
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421 /* The reg test task also tests the floating point registers. Tasks
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422 that use the floating point unit must call vPortTaskUsesFPU() before
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423 any floating point instructions are executed. */
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424 vPortTaskUsesFPU();
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426 /* Start the part of the test that is written in assembler. */
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427 vRegTest1Implementation();
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430 /* The following line will only execute if the task parameter is found to
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431 be incorrect. The check timer will detect that the regtest loop counter is
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432 not being incremented and flag an error. */
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433 vTaskDelete( NULL );
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435 /*-----------------------------------------------------------*/
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437 static void prvRegTestTaskEntry2( void *pvParameters )
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439 /* Although the regtest task is written in assembler, its entry point is
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440 written in C for convenience of checking the task parameter is being passed
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442 if( pvParameters == mainREG_TEST_TASK_2_PARAMETER )
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444 /* The reg test task also tests the floating point registers. Tasks
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445 that use the floating point unit must call vPortTaskUsesFPU() before
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446 any floating point instructions are executed. */
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447 vPortTaskUsesFPU();
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449 /* Start the part of the test that is written in assembler. */
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450 vRegTest2Implementation();
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453 /* The following line will only execute if the task parameter is found to
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454 be incorrect. The check timer will detect that the regtest loop counter is
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455 not being incremented and flag an error. */
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456 vTaskDelete( NULL );
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458 /*-----------------------------------------------------------*/
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460 static void prvPseudoRandomiser( void *pvParameters )
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462 const uint32_t ulMultiplier = 0x015a4e35UL, ulIncrement = 1UL, ulMinDelay = ( 35 / portTICK_PERIOD_MS );
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463 volatile uint32_t ulNextRand = ( uint32_t ) &pvParameters, ulValue;
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465 /* This task does nothing other than ensure there is a little bit of
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466 disruption in the scheduling pattern of the other tasks. Normally this is
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467 done by generating interrupts at pseudo random times. */
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470 ulNextRand = ( ulMultiplier * ulNextRand ) + ulIncrement;
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471 ulValue = ( ulNextRand >> 16UL ) & 0xffUL;
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473 if( ulValue < ulMinDelay )
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475 ulValue = ulMinDelay;
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478 vTaskDelay( ulValue );
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480 while( ulValue > 0 )
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482 __asm volatile( "NOP" );
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483 __asm volatile( "NOP" );
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484 __asm volatile( "NOP" );
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485 __asm volatile( "NOP" );
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