2 FreeRTOS V7.4.1 - Copyright (C) 2013 Real Time Engineers Ltd.
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4 FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME. PLEASE VISIT
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5 http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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7 ***************************************************************************
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9 * FreeRTOS tutorial books are available in pdf and paperback. *
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10 * Complete, revised, and edited pdf reference manuals are also *
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13 * Purchasing FreeRTOS documentation will not only help you, by *
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14 * ensuring you get running as quickly as possible and with an *
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15 * in-depth knowledge of how to use FreeRTOS, it will also help *
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16 * the FreeRTOS project to continue with its mission of providing *
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17 * professional grade, cross platform, de facto standard solutions *
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18 * for microcontrollers - completely free of charge! *
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20 * >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
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22 * Thank you for using FreeRTOS, and thank you for your support! *
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24 ***************************************************************************
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27 This file is part of the FreeRTOS distribution.
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29 FreeRTOS is free software; you can redistribute it and/or modify it under
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30 the terms of the GNU General Public License (version 2) as published by the
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31 Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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33 >>>>>>NOTE<<<<<< The modification to the GPL is included to allow you to
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34 distribute a combined work that includes FreeRTOS without being obliged to
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35 provide the source code for proprietary components outside of the FreeRTOS
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38 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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39 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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40 FOR A PARTICULAR PURPOSE. See the GNU General Public License for more
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41 details. You should have received a copy of the GNU General Public License
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42 and the FreeRTOS license exception along with FreeRTOS; if not it can be
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43 viewed here: http://www.freertos.org/a00114.html and also obtained by
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44 writing to Real Time Engineers Ltd., contact details for whom are available
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45 on the FreeRTOS WEB site.
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49 ***************************************************************************
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51 * Having a problem? Start by reading the FAQ "My application does *
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52 * not run, what could be wrong?" *
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54 * http://www.FreeRTOS.org/FAQHelp.html *
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56 ***************************************************************************
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59 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
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60 license and Real Time Engineers Ltd. contact details.
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62 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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63 including FreeRTOS+Trace - an indispensable productivity tool, and our new
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64 fully thread aware and reentrant UDP/IP stack.
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66 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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67 Integrity Systems, who sell the code with commercial support,
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68 indemnification and middleware, under the OpenRTOS brand.
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70 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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71 engineered and independently SIL3 certified version for use in safety and
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72 mission critical applications that require provable dependability.
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76 * Creates two sets of two tasks. The tasks within a set share a variable, access
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77 * to which is guarded by a semaphore.
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79 * Each task starts by attempting to obtain the semaphore. On obtaining a
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80 * semaphore a task checks to ensure that the guarded variable has an expected
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81 * value. It then clears the variable to zero before counting it back up to the
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82 * expected value in increments of 1. After each increment the variable is checked
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83 * to ensure it contains the value to which it was just set. When the starting
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84 * value is again reached the task releases the semaphore giving the other task in
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85 * the set a chance to do exactly the same thing. The starting value is high
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86 * enough to ensure that a tick is likely to occur during the incrementing loop.
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88 * An error is flagged if at any time during the process a shared variable is
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89 * found to have a value other than that expected. Such an occurrence would
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90 * suggest an error in the mutual exclusion mechanism by which access to the
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91 * variable is restricted.
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93 * The first set of two tasks poll their semaphore. The second set use blocking
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101 /* Scheduler include files. */
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102 #include "FreeRTOS.h"
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104 #include "semphr.h"
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106 /* Demo app include files. */
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107 #include "semtest.h"
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109 /* The value to which the shared variables are counted. */
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110 #define semtstBLOCKING_EXPECTED_VALUE ( ( unsigned long ) 0xfff )
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111 #define semtstNON_BLOCKING_EXPECTED_VALUE ( ( unsigned long ) 0xff )
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113 #define semtstSTACK_SIZE configMINIMAL_STACK_SIZE
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115 #define semtstNUM_TASKS ( 4 )
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117 #define semtstDELAY_FACTOR ( ( portTickType ) 10 )
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119 /* The task function as described at the top of the file. */
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120 static portTASK_FUNCTION_PROTO( prvSemaphoreTest, pvParameters );
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122 /* Structure used to pass parameters to each task. */
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123 typedef struct SEMAPHORE_PARAMETERS
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125 xSemaphoreHandle xSemaphore;
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126 volatile unsigned long *pulSharedVariable;
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127 portTickType xBlockTime;
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128 } xSemaphoreParameters;
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130 /* Variables used to check that all the tasks are still running without errors. */
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131 static volatile short sCheckVariables[ semtstNUM_TASKS ] = { 0 };
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132 static volatile short sNextCheckVariable = 0;
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134 /*-----------------------------------------------------------*/
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136 void vStartSemaphoreTasks( unsigned portBASE_TYPE uxPriority )
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138 xSemaphoreParameters *pxFirstSemaphoreParameters, *pxSecondSemaphoreParameters;
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139 const portTickType xBlockTime = ( portTickType ) 100;
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141 /* Create the structure used to pass parameters to the first two tasks. */
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142 pxFirstSemaphoreParameters = ( xSemaphoreParameters * ) pvPortMalloc( sizeof( xSemaphoreParameters ) );
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144 if( pxFirstSemaphoreParameters != NULL )
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146 /* Create the semaphore used by the first two tasks. */
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147 vSemaphoreCreateBinary( pxFirstSemaphoreParameters->xSemaphore );
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149 if( pxFirstSemaphoreParameters->xSemaphore != NULL )
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151 /* Create the variable which is to be shared by the first two tasks. */
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152 pxFirstSemaphoreParameters->pulSharedVariable = ( unsigned long * ) pvPortMalloc( sizeof( unsigned long ) );
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154 /* Initialise the share variable to the value the tasks expect. */
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155 *( pxFirstSemaphoreParameters->pulSharedVariable ) = semtstNON_BLOCKING_EXPECTED_VALUE;
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157 /* The first two tasks do not block on semaphore calls. */
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158 pxFirstSemaphoreParameters->xBlockTime = ( portTickType ) 0;
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160 /* Spawn the first two tasks. As they poll they operate at the idle priority. */
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161 xTaskCreate( prvSemaphoreTest, ( signed char * ) "PolSEM1", semtstSTACK_SIZE, ( void * ) pxFirstSemaphoreParameters, tskIDLE_PRIORITY, ( xTaskHandle * ) NULL );
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162 xTaskCreate( prvSemaphoreTest, ( signed char * ) "PolSEM2", semtstSTACK_SIZE, ( void * ) pxFirstSemaphoreParameters, tskIDLE_PRIORITY, ( xTaskHandle * ) NULL );
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166 /* Do exactly the same to create the second set of tasks, only this time
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167 provide a block time for the semaphore calls. */
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168 pxSecondSemaphoreParameters = ( xSemaphoreParameters * ) pvPortMalloc( sizeof( xSemaphoreParameters ) );
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169 if( pxSecondSemaphoreParameters != NULL )
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171 vSemaphoreCreateBinary( pxSecondSemaphoreParameters->xSemaphore );
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173 if( pxSecondSemaphoreParameters->xSemaphore != NULL )
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175 pxSecondSemaphoreParameters->pulSharedVariable = ( unsigned long * ) pvPortMalloc( sizeof( unsigned long ) );
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176 *( pxSecondSemaphoreParameters->pulSharedVariable ) = semtstBLOCKING_EXPECTED_VALUE;
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177 pxSecondSemaphoreParameters->xBlockTime = xBlockTime / portTICK_RATE_MS;
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179 xTaskCreate( prvSemaphoreTest, ( signed char * ) "BlkSEM1", semtstSTACK_SIZE, ( void * ) pxSecondSemaphoreParameters, uxPriority, ( xTaskHandle * ) NULL );
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180 xTaskCreate( prvSemaphoreTest, ( signed char * ) "BlkSEM2", semtstSTACK_SIZE, ( void * ) pxSecondSemaphoreParameters, uxPriority, ( xTaskHandle * ) NULL );
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184 /* vQueueAddToRegistry() adds the semaphore to the registry, if one is
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185 in use. The registry is provided as a means for kernel aware
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186 debuggers to locate semaphores and has no purpose if a kernel aware debugger
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187 is not being used. The call to vQueueAddToRegistry() will be removed
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188 by the pre-processor if configQUEUE_REGISTRY_SIZE is not defined or is
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189 defined to be less than 1. */
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190 vQueueAddToRegistry( ( xQueueHandle ) pxFirstSemaphoreParameters->xSemaphore, ( signed char * ) "Counting_Sem_1" );
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191 vQueueAddToRegistry( ( xQueueHandle ) pxSecondSemaphoreParameters->xSemaphore, ( signed char * ) "Counting_Sem_2" );
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193 /*-----------------------------------------------------------*/
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195 static portTASK_FUNCTION( prvSemaphoreTest, pvParameters )
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197 xSemaphoreParameters *pxParameters;
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198 volatile unsigned long *pulSharedVariable, ulExpectedValue;
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199 unsigned long ulCounter;
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200 short sError = pdFALSE, sCheckVariableToUse;
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202 /* See which check variable to use. sNextCheckVariable is not semaphore
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204 portENTER_CRITICAL();
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205 sCheckVariableToUse = sNextCheckVariable;
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206 sNextCheckVariable++;
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207 portEXIT_CRITICAL();
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209 /* A structure is passed in as the parameter. This contains the shared
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210 variable being guarded. */
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211 pxParameters = ( xSemaphoreParameters * ) pvParameters;
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212 pulSharedVariable = pxParameters->pulSharedVariable;
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214 /* If we are blocking we use a much higher count to ensure loads of context
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215 switches occur during the count. */
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216 if( pxParameters->xBlockTime > ( portTickType ) 0 )
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218 ulExpectedValue = semtstBLOCKING_EXPECTED_VALUE;
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222 ulExpectedValue = semtstNON_BLOCKING_EXPECTED_VALUE;
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227 /* Try to obtain the semaphore. */
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228 if( xSemaphoreTake( pxParameters->xSemaphore, pxParameters->xBlockTime ) == pdPASS )
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230 /* We have the semaphore and so expect any other tasks using the
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231 shared variable to have left it in the state we expect to find
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233 if( *pulSharedVariable != ulExpectedValue )
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238 /* Clear the variable, then count it back up to the expected value
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239 before releasing the semaphore. Would expect a context switch or
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240 two during this time. */
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241 for( ulCounter = ( unsigned long ) 0; ulCounter <= ulExpectedValue; ulCounter++ )
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243 *pulSharedVariable = ulCounter;
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244 if( *pulSharedVariable != ulCounter )
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250 /* Release the semaphore, and if no errors have occurred increment the check
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252 if( xSemaphoreGive( pxParameters->xSemaphore ) == pdFALSE )
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257 if( sError == pdFALSE )
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259 if( sCheckVariableToUse < semtstNUM_TASKS )
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261 ( sCheckVariables[ sCheckVariableToUse ] )++;
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265 /* If we have a block time then we are running at a priority higher
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266 than the idle priority. This task takes a long time to complete
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267 a cycle (deliberately so to test the guarding) so will be starving
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268 out lower priority tasks. Block for some time to allow give lower
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269 priority tasks some processor time. */
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270 vTaskDelay( pxParameters->xBlockTime * semtstDELAY_FACTOR );
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274 if( pxParameters->xBlockTime == ( portTickType ) 0 )
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276 /* We have not got the semaphore yet, so no point using the
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277 processor. We are not blocking when attempting to obtain the
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284 /*-----------------------------------------------------------*/
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286 /* This is called to check that all the created tasks are still running. */
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287 portBASE_TYPE xAreSemaphoreTasksStillRunning( void )
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289 static short sLastCheckVariables[ semtstNUM_TASKS ] = { 0 };
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290 portBASE_TYPE xTask, xReturn = pdTRUE;
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292 for( xTask = 0; xTask < semtstNUM_TASKS; xTask++ )
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294 if( sLastCheckVariables[ xTask ] == sCheckVariables[ xTask ] )
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299 sLastCheckVariables[ xTask ] = sCheckVariables[ xTask ];
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