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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72 * Tests the behaviour of direct task notifications.
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75 /* Standard includes. */
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78 /* Scheduler include files. */
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79 #include "FreeRTOS.h"
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83 /* Demo program include files. */
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84 #include "TaskNotify.h"
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86 #define notifyTASK_PRIORITY ( tskIDLE_PRIORITY )
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87 #define notifyUINT32_MAX ( ( uint32_t ) 0xffffffff )
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88 /*-----------------------------------------------------------*/
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91 * Implementation of the task that gets notified.
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93 static void prvNotifiedTask( void *pvParameters );
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96 * Performs a few initial tests that can be done prior to creating the second
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99 static void prvSingleTaskTests( void );
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102 * Software timer callback function from which xTaskNotify() is called.
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104 static void prvNotifyingTimer( TimerHandle_t xTimer );
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107 * Utility function to create pseudo random numbers.
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109 static UBaseType_t prvRand( void );
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111 /*-----------------------------------------------------------*/
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113 /* Used to latch errors during the test's execution. */
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114 static BaseType_t xErrorStatus = pdPASS;
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116 /* Used to ensure the task has not stalled. */
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117 static volatile uint32_t ulNotifyCycleCount = 0;
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119 /* The handle of the task that receives the notifications. */
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120 static TaskHandle_t xTaskToNotify = NULL;
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122 /* Used to count the notifications sent to the task from a software timer and
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123 the number of notifications received by the task from the software timer. The
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124 two should stay synchronised. */
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125 static uint32_t ulTimerNotificationsReceived = 0UL, ulTimerNotificationsSent = 0UL;
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127 /* The timer used to notify the task. */
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128 static TimerHandle_t xTimer = NULL;
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130 /* Used by the pseudo random number generating function. */
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131 static size_t uxNextRand = 0;
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133 /*-----------------------------------------------------------*/
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135 void vStartTaskNotifyTask( void )
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137 /* Create the task that performs some tests by itself, then loops around
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138 being notified by both a software timer and an interrupt. */
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139 xTaskCreate( prvNotifiedTask, "Notified", configMINIMAL_STACK_SIZE, NULL, notifyTASK_PRIORITY, &xTaskToNotify );
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141 /* Pseudo seed the random number generator. */
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142 uxNextRand = ( size_t ) prvRand;
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144 /*-----------------------------------------------------------*/
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146 static void prvSingleTaskTests( void )
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148 const TickType_t xTicksToWait = pdMS_TO_TICKS( 100UL );
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149 BaseType_t xReturned;
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150 uint32_t ulNotifiedValue, ulLoop, ulNotifyingValue, ulPreviousValue, ulExpectedValue;
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151 TickType_t xTimeOnEntering;
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152 const uint32_t ulFirstNotifiedConst = 100001UL, ulSecondNotifiedValueConst = 5555UL, ulMaxLoops = 5UL;
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153 const uint32_t ulBit0 = 0x01UL, ulBit1 = 0x02UL;
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155 /* -------------------------------------------------------------------------
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156 Check blocking when there are no notifications. */
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157 xTimeOnEntering = xTaskGetTickCount();
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158 xReturned = xTaskNotifyWait( notifyUINT32_MAX, 0, &ulNotifiedValue, xTicksToWait );
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160 /* Should have blocked for the entire block time. */
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161 if( ( xTaskGetTickCount() - xTimeOnEntering ) < xTicksToWait )
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163 xErrorStatus = pdFAIL;
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165 configASSERT( xReturned == pdFAIL );
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166 configASSERT( ulNotifiedValue == 0UL );
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171 /* -------------------------------------------------------------------------
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172 Check no blocking when notifications are pending. First notify itself -
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173 this would not be a normal thing to do and is done here for test purposes
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175 xReturned = xTaskNotifyAndQuery( xTaskToNotify, ulFirstNotifiedConst, eSetValueWithoutOverwrite, &ulPreviousValue );
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177 /* Even through the 'without overwrite' action was used the update should
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178 have been successful. */
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179 configASSERT( xReturned == pdPASS );
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181 /* No bits should have been pending previously. */
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182 configASSERT( ulPreviousValue == 0 );
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184 /* The task should now have a notification pending, and so not time out. */
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185 xTimeOnEntering = xTaskGetTickCount();
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186 xReturned = xTaskNotifyWait( notifyUINT32_MAX, 0, &ulNotifiedValue, xTicksToWait );
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188 if( ( xTaskGetTickCount() - xTimeOnEntering ) >= xTicksToWait )
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190 xErrorStatus = pdFAIL;
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193 /* The task should have been notified, and the notified value should
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194 be equal to ulFirstNotifiedConst. */
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195 configASSERT( xReturned == pdPASS );
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196 configASSERT( ulNotifiedValue == ulFirstNotifiedConst );
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198 /* Incremented to show the task is still running. */
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199 ulNotifyCycleCount++;
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205 /*--------------------------------------------------------------------------
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206 Check the non-overwriting functionality. The notification is done twice
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207 using two different notification values. The action says don't overwrite so
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208 only the first notification should pass and the value read back should also
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209 be that used with the first notification. */
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210 xReturned = xTaskNotify( xTaskToNotify, ulFirstNotifiedConst, eSetValueWithoutOverwrite );
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211 configASSERT( xReturned == pdPASS );
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213 xReturned = xTaskNotify( xTaskToNotify, ulSecondNotifiedValueConst, eSetValueWithoutOverwrite );
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214 configASSERT( xReturned == pdFAIL );
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216 /* Waiting for the notification should now return immediately so a block
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217 time of zero is used. */
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218 xReturned = xTaskNotifyWait( notifyUINT32_MAX, 0, &ulNotifiedValue, 0 );
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220 configASSERT( xReturned == pdPASS );
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221 configASSERT( ulNotifiedValue == ulFirstNotifiedConst );
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227 /*--------------------------------------------------------------------------
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228 Do the same again, only this time use the overwriting version. This time
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229 both notifications should pass, and the value written the second time should
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230 overwrite the value written the first time, and so be the value that is read
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232 xReturned = xTaskNotify( xTaskToNotify, ulFirstNotifiedConst, eSetValueWithOverwrite );
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233 configASSERT( xReturned == pdPASS );
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234 xReturned = xTaskNotify( xTaskToNotify, ulSecondNotifiedValueConst, eSetValueWithOverwrite );
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235 configASSERT( xReturned == pdPASS );
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236 xReturned = xTaskNotifyWait( notifyUINT32_MAX, 0, &ulNotifiedValue, 0 );
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237 configASSERT( xReturned == pdPASS );
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238 configASSERT( ulNotifiedValue == ulSecondNotifiedValueConst );
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243 /*--------------------------------------------------------------------------
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244 Check notifications with no action pass without updating the value. Even
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245 though ulFirstNotifiedConst is used as the value the value read back should
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246 remain at ulSecondNotifiedConst. */
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247 xReturned = xTaskNotify( xTaskToNotify, ulFirstNotifiedConst, eNoAction );
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248 configASSERT( xReturned == pdPASS );
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249 xReturned = xTaskNotifyWait( notifyUINT32_MAX, 0, &ulNotifiedValue, 0 );
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250 configASSERT( ulNotifiedValue == ulSecondNotifiedValueConst );
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255 /*--------------------------------------------------------------------------
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256 Check incrementing values. Send ulMaxLoop increment notifications, then
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257 ensure the received value is as expected - which should be
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258 ulSecondNotificationValueConst plus how ever many times to loop iterated. */
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259 for( ulLoop = 0; ulLoop < ulMaxLoops; ulLoop++ )
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261 xReturned = xTaskNotify( xTaskToNotify, 0, eIncrement );
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262 configASSERT( xReturned == pdPASS );
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265 xReturned = xTaskNotifyWait( notifyUINT32_MAX, 0, &ulNotifiedValue, 0 );
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266 configASSERT( xReturned == pdPASS );
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267 configASSERT( ulNotifiedValue == ( ulSecondNotifiedValueConst + ulMaxLoops ) );
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269 /* Should not be any notifications pending now. */
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270 xReturned = xTaskNotifyWait( 0, 0, &ulNotifiedValue, 0 );
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271 configASSERT( xReturned == pdFAIL );
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276 /*--------------------------------------------------------------------------
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277 Check all bits can be set by notifying the task with one additional bit set
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278 on each notification, and exiting the loop when all the bits are found to be
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279 set. As there are 32-bits the loop should execute 32 times before all the
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280 bits are found to be set. */
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281 ulNotifyingValue = 0x01;
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284 /* Start with all bits clear. */
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285 xTaskNotifyWait( notifyUINT32_MAX, 0, &ulNotifiedValue, 0 );
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289 /* Set the next bit in the task's notified value. */
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290 xTaskNotify( xTaskToNotify, ulNotifyingValue, eSetBits );
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292 /* Wait for the notified value - which of course will already be
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293 available. Don't clear the bits on entry or exit as this loop is exited
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294 when all the bits are set. */
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295 xReturned = xTaskNotifyWait( 0, 0, &ulNotifiedValue, 0 );
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296 configASSERT( xReturned == pdPASS );
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300 /* Use the next bit on the next iteration around this loop. */
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301 ulNotifyingValue <<= 1UL;
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303 } while ( ulNotifiedValue != notifyUINT32_MAX );
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305 /* As a 32-bit value was used the loop should have executed 32 times before
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306 all the bits were set. */
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307 configASSERT( ulLoop == 32 );
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312 /*--------------------------------------------------------------------------
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313 Check bits are cleared on entry but not on exit when a notification fails
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314 to arrive before timing out - both with and without a timeout value. Wait
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315 for the notification again - but this time it is not given by anything and
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316 should return pdFAIL. The parameters are set to clear bit zero on entry and
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317 bit one on exit. As no notification was received only the bit cleared on
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318 entry should actually get cleared. */
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319 xReturned = xTaskNotifyWait( ulBit0, ulBit1, &ulNotifiedValue, xTicksToWait );
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320 configASSERT( xReturned == pdFAIL );
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322 /* Notify the task with no action so as not to update the bits even though
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323 notifyUINT32_MAX is used as the notification value. */
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324 xTaskNotify( xTaskToNotify, notifyUINT32_MAX, eNoAction );
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326 /* Reading back the value should should find bit 0 is clear, as this was
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327 cleared on entry, but bit 1 is not clear as it will not have been cleared on
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328 exit as no notification was received. */
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329 xReturned = xTaskNotifyWait( 0x00UL, 0x00UL, &ulNotifiedValue, 0 );
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330 configASSERT( xReturned == pdPASS );
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331 configASSERT( ulNotifiedValue == ( notifyUINT32_MAX & ~ulBit0 ) );
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337 /*--------------------------------------------------------------------------
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338 Now try clearing the bit on exit. For that to happen a notification must be
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339 received, so the task is notified first. */
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340 xTaskNotify( xTaskToNotify, 0, eNoAction );
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341 xTaskNotifyWait( 0x00, ulBit1, &ulNotifiedValue, 0 );
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343 /* However as the bit is cleared on exit, after the returned notification
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344 value is set, the returned notification value should not have the bit
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346 configASSERT( ulNotifiedValue == ( notifyUINT32_MAX & ~ulBit0 ) );
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348 /* ...but reading the value back again should find that the bit was indeed
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349 cleared internally. The returned value should be pdFAIL however as nothing
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350 has notified the task in the mean time. */
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351 xReturned = xTaskNotifyWait( 0x00, 0x00, &ulNotifiedValue, 0 );
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352 configASSERT( xReturned == pdFAIL );
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353 configASSERT( ulNotifiedValue == ( notifyUINT32_MAX & ~( ulBit0 | ulBit1 ) ) );
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358 /*--------------------------------------------------------------------------
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359 Now try querying the previus value while notifying a task. */
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360 xTaskNotifyAndQuery( xTaskToNotify, 0x00, eSetBits, &ulPreviousValue );
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361 configASSERT( ulNotifiedValue == ( notifyUINT32_MAX & ~( ulBit0 | ulBit1 ) ) );
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363 /* Clear all bits. */
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364 xTaskNotifyWait( 0x00, notifyUINT32_MAX, &ulNotifiedValue, 0 );
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365 xTaskNotifyAndQuery( xTaskToNotify, 0x00, eSetBits, &ulPreviousValue );
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366 configASSERT( ulPreviousValue == 0 );
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368 ulExpectedValue = 0;
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369 for( ulLoop = 0x01; ulLoop < 0x80UL; ulLoop <<= 1UL )
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371 /* Set the next bit up, and expect to receive the last bits set (so
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372 the previous value will not yet have the bit being set this time
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374 xTaskNotifyAndQuery( xTaskToNotify, ulLoop, eSetBits, &ulPreviousValue );
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375 configASSERT( ulExpectedValue == ulPreviousValue );
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376 ulExpectedValue |= ulLoop;
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381 /* -------------------------------------------------------------------------
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382 Clear the previous notifications. */
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383 xTaskNotifyWait( notifyUINT32_MAX, 0, &ulNotifiedValue, 0 );
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385 /* The task should not have any notifications pending, so an attempt to clear
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386 the notification state should fail. */
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387 configASSERT( xTaskNotifyStateClear( NULL ) == pdFALSE );
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389 /* Get the task to notify itself. This is not a normal thing to do, and is
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390 only done here for test purposes. */
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391 xTaskNotifyAndQuery( xTaskToNotify, ulFirstNotifiedConst, eSetValueWithoutOverwrite, &ulPreviousValue );
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393 /* Now the notification state should be eNotified, so it should now be
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394 possible to clear the notification state. */
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395 configASSERT( xTaskNotifyStateClear( NULL ) == pdTRUE );
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396 configASSERT( xTaskNotifyStateClear( NULL ) == pdFALSE );
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401 /* Incremented to show the task is still running. */
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402 ulNotifyCycleCount++;
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404 /* Leave all bits cleared. */
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405 xTaskNotifyWait( notifyUINT32_MAX, 0, NULL, 0 );
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407 /*-----------------------------------------------------------*/
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409 static void prvNotifyingTimer( TimerHandle_t xNotUsed )
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413 xTaskNotifyGive( xTaskToNotify );
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415 /* This value is also incremented from an interrupt. */
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416 taskENTER_CRITICAL();
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418 ulTimerNotificationsSent++;
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420 taskEXIT_CRITICAL();
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422 /*-----------------------------------------------------------*/
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424 static void prvNotifiedTask( void *pvParameters )
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426 const TickType_t xMaxPeriod = pdMS_TO_TICKS( 90 ), xMinPeriod = pdMS_TO_TICKS( 10 ), xDontBlock = 0;
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427 TickType_t xPeriod;
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428 const uint32_t ulCyclesToRaisePriority = 50UL;
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430 /* Remove compiler warnings about unused parameters. */
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431 ( void ) pvParameters;
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433 /* Run a few tests that can be done from a single task before entering the
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435 prvSingleTaskTests();
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437 /* Create the software timer that is used to send notifications to this
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438 task. Notifications are also received from an interrupt. */
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439 xTimer = xTimerCreate( "Notifier", xMaxPeriod, pdFALSE, NULL, prvNotifyingTimer );
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443 /* Start the timer again with a different period. Sometimes the period
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444 will be higher than the tasks block time, sometimes it will be lower
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445 than the tasks block time. */
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446 xPeriod = prvRand() % xMaxPeriod;
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447 if( xPeriod < xMinPeriod )
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449 xPeriod = xMinPeriod;
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452 /* Change the timer period and start the timer. */
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453 xTimerChangePeriod( xTimer, xPeriod, portMAX_DELAY );
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455 /* Block waiting for the notification again with a different period.
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456 Sometimes the period will be higher than the tasks block time, sometimes
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457 it will be lower than the tasks block time. */
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458 xPeriod = prvRand() % xMaxPeriod;
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459 if( xPeriod < xMinPeriod )
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461 xPeriod = xMinPeriod;
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464 /* Block to wait for a notification but without clearing the
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465 notification count, so only add one to the count of received
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466 notifications as any other notifications will remain pending. */
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467 if( ulTaskNotifyTake( pdFALSE, xPeriod ) != 0 )
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469 ulTimerNotificationsReceived++;
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473 /* Take a notification without clearing again, but this time without a
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474 block time specified. */
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475 if( ulTaskNotifyTake( pdFALSE, xDontBlock ) != 0 )
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477 ulTimerNotificationsReceived++;
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480 /* Wait for the next notification from the timer, clearing all
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481 notifications if one is received, so this time adding the total number
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482 of notifications that were pending as none will be left pending after
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483 the function call. */
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484 ulTimerNotificationsReceived += ulTaskNotifyTake( pdTRUE, xPeriod );
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486 /* Occasionally raise the priority of the task being notified to test
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487 the path where the task is notified from an ISR and becomes the highest
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488 priority ready state task, but the pxHigherPriorityTaskWoken parameter
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489 is NULL (which it is in the tick hook that sends notifications to this
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491 if( ( ulNotifyCycleCount % ulCyclesToRaisePriority ) == 0 )
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493 vTaskPrioritySet( xTaskToNotify, configMAX_PRIORITIES - 1 );
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495 /* Wait for the next notification again, clearing all notifications if
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496 one is received, but this time blocking indefinitely. */
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497 ulTimerNotificationsReceived += ulTaskNotifyTake( pdTRUE, portMAX_DELAY );
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499 /* Reset the priority. */
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500 vTaskPrioritySet( xTaskToNotify, notifyTASK_PRIORITY );
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504 /* Wait for the next notification again, clearing all notifications if
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505 one is received, but this time blocking indefinitely. */
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506 ulTimerNotificationsReceived += ulTaskNotifyTake( pdTRUE, portMAX_DELAY );
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509 /* Incremented to show the task is still running. */
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510 ulNotifyCycleCount++;
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513 /*-----------------------------------------------------------*/
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515 void xNotifyTaskFromISR( void )
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517 static BaseType_t xCallCount = 0, xAPIToUse = 0;
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518 const BaseType_t xCallInterval = pdMS_TO_TICKS( 50 );
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519 uint32_t ulPreviousValue;
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520 const uint32_t ulUnexpectedValue = 0xff;
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522 /* The task performs some tests before starting the timer that gives the
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523 notification from this interrupt. If the timer has not been created yet
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524 then the initial tests have not yet completed and the notification should
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526 if( xTimer != NULL )
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530 if( xCallCount >= xCallInterval )
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532 /* It is time to 'give' the notification again. */
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535 /* Test using both vTaskNotifyGiveFromISR(), xTaskNotifyFromISR()
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536 and xTaskNotifyAndQueryFromISR(). */
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537 switch( xAPIToUse )
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539 case 0: vTaskNotifyGiveFromISR( xTaskToNotify, NULL );
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543 case 1: xTaskNotifyFromISR( xTaskToNotify, 0, eIncrement, NULL );
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547 case 2: ulPreviousValue = ulUnexpectedValue;
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548 xTaskNotifyAndQueryFromISR( xTaskToNotify, 0, eIncrement, &ulPreviousValue, NULL );
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549 configASSERT( ulPreviousValue != ulUnexpectedValue );
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553 default:/* Should never get here!. */
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557 ulTimerNotificationsSent++;
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561 /*-----------------------------------------------------------*/
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563 /* This is called to check the created tasks are still running and have not
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564 detected any errors. */
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565 BaseType_t xAreTaskNotificationTasksStillRunning( void )
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567 static uint32_t ulLastNotifyCycleCount = 0;
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568 const uint32_t ulMaxSendReceiveDeviation = 5UL;
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570 /* Check the cycle count is still incrementing to ensure the task is still
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571 actually running. */
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572 if( ulLastNotifyCycleCount == ulNotifyCycleCount )
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574 xErrorStatus = pdFAIL;
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578 ulLastNotifyCycleCount = ulNotifyCycleCount;
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581 /* Check the count of 'takes' from the software timer is keeping track with
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582 the amount of 'gives'. */
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583 if( ulTimerNotificationsSent > ulTimerNotificationsReceived )
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585 if( ( ulTimerNotificationsSent - ulTimerNotificationsReceived ) > ulMaxSendReceiveDeviation )
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587 xErrorStatus = pdFAIL;
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591 return xErrorStatus;
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593 /*-----------------------------------------------------------*/
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595 static UBaseType_t prvRand( void )
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597 const size_t uxMultiplier = ( size_t ) 0x015a4e35, uxIncrement = ( size_t ) 1;
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599 /* Utility function to generate a pseudo random number. */
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600 uxNextRand = ( uxMultiplier * uxNextRand ) + uxIncrement;
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601 return( ( uxNextRand >> 16 ) & ( ( size_t ) 0x7fff ) );
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603 /*-----------------------------------------------------------*/
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