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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70 /******************************************************************************
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71 * NOTE 1: This project provides two demo applications. A simple blinky
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72 * style project, and a more comprehensive test and demo application. The
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73 * mainCREATE_SIMPLE_BLINKY_DEMO_ONLY setting in main.c is used to
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74 * select between the two. See the notes on using
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75 * mainCREATE_SIMPLE_BLINKY_DEMO_ONLY in main.c. This file implements the
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76 * comprehensive version.
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78 * NOTE 2: This file only contains the source code that is specific to the
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79 * full demo. Generic functions, such FreeRTOS hook functions, and functions
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80 * required to configure the hardware, are defined in main.c.
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82 ******************************************************************************
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84 * main_full() creates a set of demo application tasks and software timers, then
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85 * starts the scheduler. The web documentation provides more details of the
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86 * standard demo application tasks, which provide no particular functionality,
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87 * but do provide a good example of how to use the FreeRTOS API.
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89 * In addition to the standard demo tasks, the following tasks and tests are
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90 * defined and/or created within this file:
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92 * "FreeRTOS+CLI command console" - The command console uses SCI1 for its
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93 * input and output. The baud rate is set to 19200. Type "help" to see a list
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94 * of registered commands. The FreeRTOS+CLI license is different to the
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95 * FreeRTOS license, see http://www.FreeRTOS.org/cli for license and usage
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98 * "Reg test" tasks - These fill both the core and floating point registers with
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99 * known values, then check that each register maintains its expected value for
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100 * the lifetime of the task. Each task uses a different set of values. The reg
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101 * test tasks execute with a very low priority, so get preempted very
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102 * frequently. A register containing an unexpected value is indicative of an
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103 * error in the context switching mechanism.
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105 * "Check" task - The check task period is initially set to three seconds. The
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106 * task checks that all the standard demo tasks are not only still executing,
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107 * but are executing without reporting any errors. If the check task discovers
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108 * that a task has either stalled, or reported an error, then it changes its own
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109 * execution period from the initial three seconds, to just 200ms. The check
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110 * task also toggles an LED on each iteration of its loop. This provides a
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111 * visual indication of the system status: If the LED toggles every three
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112 * seconds, then no issues have been discovered. If the LED toggles every
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113 * 200ms, then an issue has been discovered with at least one task.
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116 /* Standard includes. */
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119 /* Kernel includes. */
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120 #include "FreeRTOS.h"
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122 #include "timers.h"
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123 #include "semphr.h"
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125 /* Standard demo application includes. */
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127 #include "semtest.h"
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128 #include "dynamic.h"
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129 #include "BlockQ.h"
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130 #include "blocktim.h"
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131 #include "countsem.h"
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132 #include "GenQTest.h"
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133 #include "recmutex.h"
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135 #include "partest.h"
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136 #include "comtest2.h"
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137 #include "serial.h"
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138 #include "TimerDemo.h"
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139 #include "QueueOverwrite.h"
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140 #include "IntQueue.h"
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141 #include "EventGroupsDemo.h"
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142 #include "TaskNotify.h"
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143 #include "IntSemTest.h"
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145 /* Renesas includes. */
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146 #include "r_cg_macrodriver.h"
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147 #include "r_cg_userdefine.h"
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149 /* Priorities for the demo application tasks. */
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150 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1UL )
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151 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2UL )
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152 #define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3UL )
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153 #define mainFLOP_TASK_PRIORITY ( tskIDLE_PRIORITY )
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154 #define mainUART_COMMAND_CONSOLE_STACK_SIZE ( configMINIMAL_STACK_SIZE * 3UL )
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155 #define mainCHECK_TASK_PRIORITY ( configMAX_PRIORITIES - 1 )
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156 #define mainQUEUE_OVERWRITE_PRIORITY ( tskIDLE_PRIORITY )
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158 /* The priority used by the UART command console task. */
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159 #define mainUART_COMMAND_CONSOLE_TASK_PRIORITY ( configMAX_PRIORITIES - 2 )
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161 /* The period after which the check timer will expire, in ms, provided no errors
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162 have been reported by any of the standard demo tasks. ms are converted to the
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163 equivalent in ticks using the portTICK_PERIOD_MS constant. */
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164 #define mainNO_ERROR_CHECK_TASK_PERIOD pdMS_TO_TICKS( 3000UL )
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166 /* The period at which the check timer will expire, in ms, if an error has been
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167 reported in one of the standard demo tasks. ms are converted to the equivalent
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168 in ticks using the portTICK_PERIOD_MS constant. */
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169 #define mainERROR_CHECK_TASK_PERIOD pdMS_TO_TICKS( 200UL )
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171 /* Parameters that are passed into the register check tasks solely for the
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172 purpose of ensuring parameters are passed into tasks correctly. */
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173 #define mainREG_TEST_TASK_1_PARAMETER ( ( void * ) 0x12345678 )
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174 #define mainREG_TEST_TASK_2_PARAMETER ( ( void * ) 0x87654321 )
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176 /* The base period used by the timer test tasks. */
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177 #define mainTIMER_TEST_PERIOD ( 50 )
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179 /*-----------------------------------------------------------*/
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182 * Entry point for the comprehensive demo (as opposed to the simple blinky
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185 void main_full( void );
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188 * The full demo includes some functionality called from the tick hook.
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190 void vFullDemoTickHook( void );
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193 * The check task, as described at the top of this file.
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195 static void prvCheckTask( void *pvParameters );
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198 * Register check tasks, and the tasks used to write over and check the contents
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199 * of the FPU registers, as described at the top of this file. The nature of
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200 * these files necessitates that they are written in an assembly file, but the
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201 * entry points are kept in the C file for the convenience of checking the task
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204 static void prvRegTestTaskEntry1( void *pvParameters );
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205 extern void vRegTest1Implementation( void );
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206 static void prvRegTestTaskEntry2( void *pvParameters );
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207 extern void vRegTest2Implementation( void );
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210 * A high priority task that does nothing other than execute at a pseudo random
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211 * time to ensure the other test tasks don't just execute in a repeating
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214 static void prvPseudoRandomiser( void *pvParameters );
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217 * Register commands that can be used with FreeRTOS+CLI. The commands are
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218 * defined in CLI-Commands.c and File-Related-CLI-Command.c respectively.
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220 extern void vRegisterSampleCLICommands( void );
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223 * The task that manages the FreeRTOS+CLI input and output.
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225 extern void vUARTCommandConsoleStart( uint16_t usStackSize, UBaseType_t uxPriority );
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227 /*-----------------------------------------------------------*/
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229 /* The following two variables are used to communicate the status of the
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230 register check tasks to the check task. If the variables keep incrementing,
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231 then the register check tasks have not discovered any errors. If a variable
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232 stops incrementing, then an error has been found. */
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233 volatile unsigned long ulRegTest1LoopCounter = 0UL, ulRegTest2LoopCounter = 0UL;
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235 /*-----------------------------------------------------------*/
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237 void main_full( void )
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239 /* Start all the other standard demo/test tasks. They have no particular
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240 functionality, but do demonstrate how to use the FreeRTOS API and test the
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242 vStartInterruptQueueTasks();
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243 vStartDynamicPriorityTasks();
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244 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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245 vCreateBlockTimeTasks();
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246 vStartCountingSemaphoreTasks();
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247 vStartGenericQueueTasks( tskIDLE_PRIORITY );
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248 vStartRecursiveMutexTasks();
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249 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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250 vStartMathTasks( mainFLOP_TASK_PRIORITY );
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251 vStartTimerDemoTask( mainTIMER_TEST_PERIOD );
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252 vStartQueueOverwriteTask( mainQUEUE_OVERWRITE_PRIORITY );
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253 vStartEventGroupTasks();
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254 vStartTaskNotifyTask();
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255 vStartInterruptSemaphoreTasks();
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257 /* Create the register check tasks, as described at the top of this file */
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258 xTaskCreate( prvRegTestTaskEntry1, "Reg1", configMINIMAL_STACK_SIZE, mainREG_TEST_TASK_1_PARAMETER, tskIDLE_PRIORITY, NULL );
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259 xTaskCreate( prvRegTestTaskEntry2, "Reg2", configMINIMAL_STACK_SIZE, mainREG_TEST_TASK_2_PARAMETER, tskIDLE_PRIORITY, NULL );
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261 /* Create the task that just adds a little random behaviour. */
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262 xTaskCreate( prvPseudoRandomiser, "Rnd", configMINIMAL_STACK_SIZE, NULL, configMAX_PRIORITIES - 1, NULL );
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264 /* Start the tasks that implements the command console on the UART, as
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265 described above. */
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266 vUARTCommandConsoleStart( mainUART_COMMAND_CONSOLE_STACK_SIZE, mainUART_COMMAND_CONSOLE_TASK_PRIORITY );
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268 /* Register the standard CLI commands. */
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269 vRegisterSampleCLICommands();
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271 /* Create the task that performs the 'check' functionality, as described at
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272 the top of this file. */
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273 xTaskCreate( prvCheckTask, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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275 /* The set of tasks created by the following function call have to be
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276 created last as they keep account of the number of tasks they expect to see
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278 vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
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280 /* Start the scheduler. */
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281 vTaskStartScheduler();
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283 /* If all is well, the scheduler will now be running, and the following
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284 line will never be reached. If the following line does execute, then
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285 there was either insufficient FreeRTOS heap memory available for the idle
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286 and/or timer tasks to be created, or vTaskStartScheduler() was called from
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287 User mode. See the memory management section on the FreeRTOS web site for
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288 more details on the FreeRTOS heap http://www.freertos.org/a00111.html. The
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289 mode from which main() is called is set in the C start up code and must be
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290 a privileged mode (not user mode). */
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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 (other than the flash tasks) to ensure
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321 that they are all still running, 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( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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334 ulErrorFound |= 1UL << 2UL;
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337 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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339 ulErrorFound |= 1UL << 3UL;
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342 if ( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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344 ulErrorFound |= 1UL << 4UL;
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347 if ( xAreGenericQueueTasksStillRunning() != pdTRUE )
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349 ulErrorFound |= 1UL << 5UL;
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352 if ( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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354 ulErrorFound |= 1UL << 6UL;
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357 if( xIsCreateTaskStillRunning() != pdTRUE )
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359 ulErrorFound |= 1UL << 7UL;
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362 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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364 ulErrorFound |= 1UL << 8UL;
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367 if( xAreTimerDemoTasksStillRunning( ( TickType_t ) mainNO_ERROR_CHECK_TASK_PERIOD ) != pdPASS )
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369 ulErrorFound |= 1UL << 9UL;
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372 if( xAreCountingSemaphoreTasksStillRunning() != pdTRUE )
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374 ulErrorFound |= 1UL << 10UL;
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377 if( xIsQueueOverwriteTaskStillRunning() != pdPASS )
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379 ulErrorFound |= 1UL << 11UL;
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382 if( xAreEventGroupTasksStillRunning() != pdPASS )
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384 ulErrorFound |= 1UL << 12UL;
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387 if( xAreTaskNotificationTasksStillRunning() != pdTRUE )
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389 ulErrorFound |= 1UL << 13UL;
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392 if( xAreInterruptSemaphoreTasksStillRunning() != pdTRUE )
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394 ulErrorFound |= 1UL << 14UL;
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397 /* Check that the register test 1 task is still running. */
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398 if( ulLastRegTest1Value == ulRegTest1LoopCounter )
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400 ulErrorFound |= 1UL << 15UL;
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402 ulLastRegTest1Value = ulRegTest1LoopCounter;
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404 /* Check that the register test 2 task is still running. */
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405 if( ulLastRegTest2Value == ulRegTest2LoopCounter )
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407 ulErrorFound |= 1UL << 16UL;
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409 ulLastRegTest2Value = ulRegTest2LoopCounter;
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411 /* Toggle the check LED to give an indication of the system status. If
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412 the LED toggles every mainNO_ERROR_CHECK_TASK_PERIOD milliseconds then
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413 everything is ok. A faster toggle indicates an error. */
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416 if( ulErrorFound != pdFALSE )
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418 /* An error has been detected in one of the tasks - flash the LED
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419 at a higher frequency to give visible feedback that something has
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420 gone wrong (it might just be that the loop back connector required
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421 by the comtest tasks has not been fitted). */
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422 xDelayPeriod = mainERROR_CHECK_TASK_PERIOD;
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426 /*-----------------------------------------------------------*/
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428 static void prvRegTestTaskEntry1( void *pvParameters )
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430 /* Although the regtest task is written in assembler, its entry point is
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431 written in C for convenience of checking the task parameter is being passed
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433 if( pvParameters == mainREG_TEST_TASK_1_PARAMETER )
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435 /* The reg test task also tests the floating point registers. Tasks
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436 that use the floating point unit must call vPortTaskUsesFPU() before
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437 any floating point instructions are executed. */
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438 vPortTaskUsesFPU();
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440 /* Start the part of the test that is written in assembler. */
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441 vRegTest1Implementation();
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444 /* The following line will only execute if the task parameter is found to
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445 be incorrect. The check timer will detect that the regtest loop counter is
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446 not being incremented and flag an error. */
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447 vTaskDelete( NULL );
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449 /*-----------------------------------------------------------*/
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451 static void prvRegTestTaskEntry2( void *pvParameters )
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453 /* Although the regtest task is written in assembler, its entry point is
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454 written in C for convenience of checking the task parameter is being passed
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456 if( pvParameters == mainREG_TEST_TASK_2_PARAMETER )
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458 /* The reg test task also tests the floating point registers. Tasks
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459 that use the floating point unit must call vPortTaskUsesFPU() before
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460 any floating point instructions are executed. */
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461 vPortTaskUsesFPU();
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463 /* Start the part of the test that is written in assembler. */
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464 vRegTest2Implementation();
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467 /* The following line will only execute if the task parameter is found to
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468 be incorrect. The check timer will detect that the regtest loop counter is
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469 not being incremented and flag an error. */
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470 vTaskDelete( NULL );
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472 /*-----------------------------------------------------------*/
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474 static void prvPseudoRandomiser( void *pvParameters )
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476 const uint32_t ulMultiplier = 0x015a4e35UL, ulIncrement = 1UL, ulMinDelay = pdMS_TO_TICKS( 35 );
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477 volatile uint32_t ulNextRand = ( uint32_t ) &pvParameters, ulValue;
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479 /* This task does nothing other than ensure there is a little bit of
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480 disruption in the scheduling pattern of the other tasks. Normally this is
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481 done by generating interrupts at pseudo random times. */
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484 ulNextRand = ( ulMultiplier * ulNextRand ) + ulIncrement;
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485 ulValue = ( ulNextRand >> 16UL ) & 0xffUL;
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487 if( ulValue < ulMinDelay )
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489 ulValue = ulMinDelay;
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492 vTaskDelay( ulValue );
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494 while( ulValue > 0 )
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496 __asm volatile( "NOP" );
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497 __asm volatile( "NOP" );
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498 __asm volatile( "NOP" );
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499 __asm volatile( "NOP" );
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505 /*-----------------------------------------------------------*/
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507 void vFullDemoTickHook( void )
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509 /* The full demo includes a software timer demo/test that requires
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510 prodding periodically from the tick interrupt. */
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511 vTimerPeriodicISRTests();
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513 /* Call the periodic queue overwrite from ISR demo. */
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514 vQueueOverwritePeriodicISRDemo();
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516 /* Call the periodic event group from ISR demo. */
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517 vPeriodicEventGroupsProcessing();
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519 /* Use task notifications from an interrupt. */
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520 xNotifyTaskFromISR();
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522 /* Use mutexes from interrupts. */
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523 vInterruptSemaphorePeriodicTest();
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