2 FreeRTOS V9.0.0rc2 - Copyright (C) 2016 Real Time Engineers Ltd.
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5 VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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7 This file is part of the FreeRTOS distribution.
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9 FreeRTOS is free software; you can redistribute it and/or modify it under
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10 the terms of the GNU General Public License (version 2) as published by the
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11 Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception.
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13 ***************************************************************************
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14 >>! NOTE: The modification to the GPL is included to allow you to !<<
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15 >>! distribute a combined work that includes FreeRTOS without being !<<
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16 >>! obliged to provide the source code for proprietary components !<<
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17 >>! outside of the FreeRTOS kernel. !<<
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18 ***************************************************************************
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20 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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21 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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22 FOR A PARTICULAR PURPOSE. Full license text is available on the following
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23 link: http://www.freertos.org/a00114.html
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25 ***************************************************************************
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27 * FreeRTOS provides completely free yet professionally developed, *
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28 * robust, strictly quality controlled, supported, and cross *
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29 * platform software that is more than just the market leader, it *
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30 * is the industry's de facto standard. *
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32 * Help yourself get started quickly while simultaneously helping *
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33 * to support the FreeRTOS project by purchasing a FreeRTOS *
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34 * tutorial book, reference manual, or both: *
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35 * http://www.FreeRTOS.org/Documentation *
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37 ***************************************************************************
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39 http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
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40 the FAQ page "My application does not run, what could be wrong?". Have you
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41 defined configASSERT()?
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43 http://www.FreeRTOS.org/support - In return for receiving this top quality
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44 embedded software for free we request you assist our global community by
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45 participating in the support forum.
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47 http://www.FreeRTOS.org/training - Investing in training allows your team to
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48 be as productive as possible as early as possible. Now you can receive
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49 FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
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50 Ltd, and the world's leading authority on the world's leading RTOS.
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52 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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53 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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54 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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56 http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
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57 Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
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59 http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
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60 Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
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61 licenses offer ticketed support, indemnification and commercial middleware.
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63 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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64 engineered and independently SIL3 certified version for use in safety and
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65 mission critical applications that require provable dependability.
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71 /******************************************************************************
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72 * NOTE 1: This project provides two demo applications. A simple blinky
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73 * style project, and a more comprehensive test and demo application. The
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74 * configCREATE_SIMPLE_TICKLESS_DEMO setting in FreeRTOSConfig.h is used to
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75 * select between the two. See the notes on using
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76 * configCREATE_SIMPLY_BLINKY_DEMO_ONLY in main.c. This file implements the
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77 * comprehensive version.
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79 * NOTE 2: This file only contains the source code that is specific to the
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80 * full demo. Generic functions, such FreeRTOS hook functions, and functions
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81 * required to configure the hardware, are defined in main.c.
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83 * See http://www.FreeRTOS.org/TI_MSP432_Free_RTOS_Demo.html for instructions.
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85 ******************************************************************************
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87 * main_full() creates all the demo application tasks and software timers, then
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88 * starts the scheduler. The web documentation provides more details of the
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89 * standard demo application tasks, which provide no particular functionality,
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90 * but do provide a good example of how to use the FreeRTOS API.
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92 * In addition to the standard demo tasks, the following tasks and tests are
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93 * defined and/or created within this file:
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95 * FreeRTOS+CLI command console. The command console is access through the
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96 * UART at 19200 baud. For reasons of robustness testing the UART driver is
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97 * deliberately written to be inefficient and should not be used as a template
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98 * for a production driver. Type "help" to see a list of registered commands.
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99 * The FreeRTOS+CLI license is different to the FreeRTOS license, see
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100 * http://www.FreeRTOS.org/cli for license and usage details.
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102 * "Reg test" tasks - These fill both the core and floating point registers with
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103 * known values, then check that each register maintains its expected value for
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104 * the lifetime of the task. Each task uses a different set of values. The reg
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105 * test tasks execute with a very low priority, so get preempted very
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106 * frequently. A register containing an unexpected value is indicative of an
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107 * error in the context switching mechanism.
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109 * "Check" task - The check task period is initially set to three seconds. The
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110 * task checks that all the standard demo tasks, and the register check tasks,
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111 * are not only still executing, but are executing without reporting any errors.
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112 * If the check task discovers that a task has either stalled, or reported an
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113 * error, then it changes its own execution period from the initial three
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114 * seconds, to just 200ms. The check task also toggles an LED each time it is
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115 * called. This provides a visual indication of the system status: If the LED
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116 * toggles every three seconds, then no issues have been discovered. If the LED
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117 * toggles every 200ms, then an issue has been discovered with at least one
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121 /* Standard includes. */
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124 /* Kernel includes. */
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125 #include "FreeRTOS.h"
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127 #include "timers.h"
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128 #include "semphr.h"
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130 /* Standard demo application includes. */
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132 #include "semtest.h"
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133 #include "countsem.h"
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134 #include "GenQTest.h"
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135 #include "recmutex.h"
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136 #include "partest.h"
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137 #include "serial.h"
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138 #include "TimerDemo.h"
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139 #include "IntQueue.h"
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140 #include "EventGroupsDemo.h"
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141 #include "TaskNotify.h"
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142 #include "IntSemTest.h"
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144 /* Priorities for the demo application tasks. */
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145 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1UL )
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146 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2UL )
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147 #define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3UL )
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148 #define mainFLOP_TASK_PRIORITY ( tskIDLE_PRIORITY )
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149 #define mainUART_COMMAND_CONSOLE_STACK_SIZE ( configMINIMAL_STACK_SIZE * 2UL )
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150 #define mainCOM_TEST_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
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151 #define mainCHECK_TASK_PRIORITY ( configMAX_PRIORITIES - 1 )
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152 #define mainQUEUE_OVERWRITE_PRIORITY ( tskIDLE_PRIORITY )
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154 /* The priority used by the UART command console task. */
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155 #define mainUART_COMMAND_CONSOLE_TASK_PRIORITY ( configMAX_PRIORITIES - 2 )
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157 /* A block time of zero simply means "don't block". */
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158 #define mainDONT_BLOCK ( 0UL )
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160 /* The period of the check task, in ms, provided no errors have been reported by
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161 any of the standard demo tasks. ms are converted to the equivalent in ticks
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162 using the pdMS_TO_TICKS() macro constant. */
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163 #define mainNO_ERROR_CHECK_TASK_PERIOD ( pdMS_TO_TICKS( 3000UL ) )
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165 /* The period of the check task, in ms, if an error has been reported in one of
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166 the standard demo tasks. ms are converted to the equivalent in ticks using the
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167 pdMS_TO_TICKS() macro. */
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168 #define mainERROR_CHECK_TASK_PERIOD ( pdMS_TO_TICKS( 200UL ) )
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170 /* Parameters that are passed into the register check tasks solely for the
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171 purpose of ensuring parameters are passed into tasks correctly. */
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172 #define mainREG_TEST_TASK_1_PARAMETER ( ( void * ) 0x12345678 )
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173 #define mainREG_TEST_TASK_2_PARAMETER ( ( void * ) 0x87654321 )
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175 /* The base period used by the timer test tasks. */
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176 #define mainTIMER_TEST_PERIOD ( 50 )
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178 /* Dimensions the queue in which characters received from the UART are
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180 #define mainRX_QUEUE_LENGTH 10
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182 /*-----------------------------------------------------------*/
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186 * The check task, as described at the top of this file.
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188 static void prvCheckTask( void *pvParameters );
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191 * Register check tasks, and the tasks used to write over and check the contents
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192 * of the FPU registers, as described at the top of this file. The nature of
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193 * these files necessitates that they are written in an assembly file, but the
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194 * entry points are kept in the C file for the convenience of checking the task
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197 static void prvRegTestTaskEntry1( void *pvParameters );
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198 extern void vRegTest1Implementation( void );
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199 static void prvRegTestTaskEntry2( void *pvParameters );
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200 extern void vRegTest2Implementation( void );
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203 * Register commands that can be used with FreeRTOS+CLI. The commands are
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204 * defined in CLI-Commands.c and File-Related-CLI-Command.c respectively.
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206 extern void vRegisterSampleCLICommands( void );
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209 * The task that manages the FreeRTOS+CLI input and output.
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211 extern void vUARTCommandConsoleStart( uint16_t usStackSize, UBaseType_t uxPriority );
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214 * When the full demo is build the idle hook is used to create some timers that
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215 * cannot be created in main() because the timer demo tasks need the entire
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218 void vFullDemoIdleHook( void );
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221 * The full demo configures the clocks for maximum frequency, wheras the blinky
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222 * demo uses a slower clock as it also uses low power features.
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224 static void prvConfigureClocks( void );
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226 /*-----------------------------------------------------------*/
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228 /* The following two variables are used to communicate the status of the
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229 register check tasks to the check task. If the variables keep incrementing,
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230 then the register check tasks have not discovered any errors. If a variable
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231 stops incrementing, then an error has been found. */
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232 volatile unsigned long ulRegTest1LoopCounter = 0UL, ulRegTest2LoopCounter = 0UL;
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234 /*-----------------------------------------------------------*/
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236 void main_full( void )
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238 /* This demo sets the clock to its maximum. The blinky demo uses as slower
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239 clock as it uses low power features. */
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240 prvConfigureClocks();
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242 /* Init the serial port for use by the CLI. The baud rate parameter is not
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243 used so set to 0 to make this obvious. */
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244 xSerialPortInitMinimal( 0, mainRX_QUEUE_LENGTH );
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246 /* Start all the other standard demo/test tasks. They have no particular
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247 functionality, but do demonstrate how to use the FreeRTOS API and test the
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249 vStartInterruptQueueTasks();
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251 vStartCountingSemaphoreTasks();
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252 vStartGenericQueueTasks( tskIDLE_PRIORITY );
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253 vStartRecursiveMutexTasks();
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254 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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255 vStartTimerDemoTask( mainTIMER_TEST_PERIOD );
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256 vStartEventGroupTasks();
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257 vStartTaskNotifyTask();
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258 vStartInterruptSemaphoreTasks();
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260 /* Note - the set of standard demo tasks contains two versions of
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261 vStartMathTasks.c. One is defined in flop.c, and uses double precision
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262 floating point numbers and variables. The other is defined in sp_flop.c,
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263 and uses single precision floating point numbers and variables. sp_flop.
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264 c should be included in this project. */
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265 vStartMathTasks( mainFLOP_TASK_PRIORITY );
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267 /* Start the tasks that implements the command console on the UART, as
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268 described above. */
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269 vUARTCommandConsoleStart( mainUART_COMMAND_CONSOLE_STACK_SIZE, mainUART_COMMAND_CONSOLE_TASK_PRIORITY );
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271 /* Register the standard CLI commands. */
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272 vRegisterSampleCLICommands();
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274 /* Create the register check tasks, as described at the top of this file */
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275 xTaskCreate( prvRegTestTaskEntry1, "Reg1", configMINIMAL_STACK_SIZE, mainREG_TEST_TASK_1_PARAMETER, tskIDLE_PRIORITY, NULL );
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276 xTaskCreate( prvRegTestTaskEntry2, "Reg2", configMINIMAL_STACK_SIZE, mainREG_TEST_TASK_2_PARAMETER, tskIDLE_PRIORITY, NULL );
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278 /* Create the task that performs the 'check' functionality, as described at
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279 the top of this file. */
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280 xTaskCreate( prvCheckTask, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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282 /* Start the scheduler. */
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283 vTaskStartScheduler();
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285 /* If all is well, the scheduler will now be running, and the following
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286 line will never be reached. If the following line does execute, then
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287 there was insufficient FreeRTOS heap memory available for the Idle and/or
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288 timer tasks to be created. See the memory management section on the
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289 FreeRTOS web site for more details on the FreeRTOS heap
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290 http://www.freertos.org/a00111.html. */
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293 /*-----------------------------------------------------------*/
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295 static void prvCheckTask( void *pvParameters )
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297 TickType_t xDelayPeriod = mainNO_ERROR_CHECK_TASK_PERIOD;
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298 TickType_t xLastExecutionTime;
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299 static unsigned long ulLastRegTest1Value = 0, ulLastRegTest2Value = 0;
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300 unsigned long ulErrorFound = pdFALSE;
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302 /* Just to stop compiler warnings. */
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303 ( void ) pvParameters;
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305 /* Initialise xLastExecutionTime so the first call to vTaskDelayUntil()
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306 works correctly. */
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307 xLastExecutionTime = xTaskGetTickCount();
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309 /* Cycle for ever, delaying then checking all the other tasks are still
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310 operating without error. The onboard LED is toggled on each iteration.
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311 If an error is detected then the delay period is decreased from
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312 mainNO_ERROR_CHECK_TASK_PERIOD to mainERROR_CHECK_TASK_PERIOD. This has the
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313 effect of increasing the rate at which the onboard LED toggles, and in so
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314 doing gives visual feedback of the system status. */
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317 /* Delay until it is time to execute again. */
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318 vTaskDelayUntil( &xLastExecutionTime, xDelayPeriod );
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320 /* Check all the demo tasks to ensure that they are all still running,
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321 and that none have detected an error. */
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322 if( xAreIntQueueTasksStillRunning() != pdTRUE )
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324 ulErrorFound |= 1UL << 0UL;
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327 if( xAreMathsTaskStillRunning() != pdTRUE )
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329 ulErrorFound |= 1UL << 1UL;
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332 if( xAreGenericQueueTasksStillRunning() != pdTRUE )
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334 ulErrorFound |= 1UL << 5UL;
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337 if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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339 ulErrorFound |= 1UL << 6UL;
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342 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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344 ulErrorFound |= 1UL << 8UL;
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347 if( xAreCountingSemaphoreTasksStillRunning() != pdTRUE )
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349 ulErrorFound |= 1UL << 10UL;
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352 if( xAreInterruptSemaphoreTasksStillRunning() != pdTRUE )
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354 ulErrorFound |= 1UL << 14UL;
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357 if( xAreTimerDemoTasksStillRunning( ( TickType_t ) mainNO_ERROR_CHECK_TASK_PERIOD ) != pdPASS )
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359 ulErrorFound |= 1UL << 9UL;
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362 if( xAreEventGroupTasksStillRunning() != pdPASS )
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364 ulErrorFound |= 1UL << 12UL;
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367 if( xAreTaskNotificationTasksStillRunning() != pdTRUE )
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369 ulErrorFound |= 1UL << 13UL;
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372 /* Check that the register test 1 task is still running. */
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373 if( ulLastRegTest1Value == ulRegTest1LoopCounter )
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375 ulErrorFound |= 1UL << 15UL;
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377 ulLastRegTest1Value = ulRegTest1LoopCounter;
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379 /* Check that the register test 2 task is still running. */
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380 if( ulLastRegTest2Value == ulRegTest2LoopCounter )
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382 ulErrorFound |= 1UL << 16UL;
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384 ulLastRegTest2Value = ulRegTest2LoopCounter;
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386 /* Toggle the check LED to give an indication of the system status. If
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387 the LED toggles every mainNO_ERROR_CHECK_TASK_PERIOD milliseconds then
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388 everything is ok. A faster toggle indicates an error. */
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389 configTOGGLE_LED();
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391 if( ulErrorFound != pdFALSE )
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393 /* An error has been detected in one of the tasks - flash the LED
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394 at a higher frequency to give visible feedback that something has
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395 gone wrong (it might just be that the loop back connector required
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396 by the comtest tasks has not been fitted). */
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397 xDelayPeriod = mainERROR_CHECK_TASK_PERIOD;
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401 /*-----------------------------------------------------------*/
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403 static void prvRegTestTaskEntry1( void *pvParameters )
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405 /* Although the regtest task is written in assembler, its entry point is
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406 written in C for convenience of checking the task parameter is being passed
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408 if( pvParameters == mainREG_TEST_TASK_1_PARAMETER )
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410 /* Start the part of the test that is written in assembler. */
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411 vRegTest1Implementation();
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414 /* The following line will only execute if the task parameter is found to
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415 be incorrect. The check task will detect that the regtest loop counter is
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416 not being incremented and flag an error. */
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417 vTaskDelete( NULL );
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419 /*-----------------------------------------------------------*/
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421 static void prvRegTestTaskEntry2( void *pvParameters )
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423 /* Although the regtest task is written in assembler, its entry point is
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424 written in C for convenience of checking the task parameter is being passed
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426 if( pvParameters == mainREG_TEST_TASK_2_PARAMETER )
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428 /* Start the part of the test that is written in assembler. */
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429 vRegTest2Implementation();
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432 /* The following line will only execute if the task parameter is found to
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433 be incorrect. The check task will detect that the regtest loop counter is
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434 not being incremented and flag an error. */
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435 vTaskDelete( NULL );
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437 /*-----------------------------------------------------------*/
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439 static void prvConfigureClocks( void )
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441 /* Set Flash wait state for high clock frequency. Refer to datasheet for
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443 FlashCtl_setWaitState( FLASH_BANK0, 2 );
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444 FlashCtl_setWaitState( FLASH_BANK1, 2 );
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446 /* The full demo configures the clocks for maximum frequency, wheras the
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447 blinky demo uses a slower clock as it also uses low power features. Maximum
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448 freqency also needs more voltage.
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450 From the datashee: For AM_LDO_VCORE1 and AM_DCDC_VCORE1 modes, the maximum
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451 CPU operating frequency is 48 MHz and maximum input clock frequency for
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452 peripherals is 24 MHz. */
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453 PCM_setCoreVoltageLevel( PCM_VCORE1 );
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454 CS_setDCOCenteredFrequency( CS_DCO_FREQUENCY_48 );
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455 CS_initClockSignal( CS_HSMCLK, CS_DCOCLK_SELECT, CS_CLOCK_DIVIDER_1 );
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456 CS_initClockSignal( CS_SMCLK, CS_DCOCLK_SELECT, CS_CLOCK_DIVIDER_1 );
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457 CS_initClockSignal( CS_MCLK, CS_DCOCLK_SELECT, CS_CLOCK_DIVIDER_1 );
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458 CS_initClockSignal( CS_ACLK, CS_REFOCLK_SELECT, CS_CLOCK_DIVIDER_1 );
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460 /*-----------------------------------------------------------*/
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462 #if( configCREATE_SIMPLE_TICKLESS_DEMO == 0 )
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464 void vApplicationTickHook( void )
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466 /* This function will be called by each tick interrupt if
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467 configUSE_TICK_HOOK is set to 1 in FreeRTOSConfig.h. User code can be
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468 added here, but the tick hook is called from an interrupt context, so
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469 code must not attempt to block, and only the interrupt safe FreeRTOS API
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470 functions can be used (those that end in FromISR()). */
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472 /* The full demo includes a software timer demo/test that requires
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473 prodding periodically from the tick interrupt. */
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474 vTimerPeriodicISRTests();
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476 /* Call the periodic event group from ISR demo. */
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477 vPeriodicEventGroupsProcessing();
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479 /* Use task notifications from an interrupt. */
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480 xNotifyTaskFromISR();
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482 /* Use mutexes from interrupts. */
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483 vInterruptSemaphorePeriodicTest();
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487 /*-----------------------------------------------------------*/
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