3 FreeRTOS V7.4.0 - Copyright (C) 2013 Real Time Engineers Ltd.
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5 FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME. PLEASE VISIT
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6 http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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8 ***************************************************************************
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10 * FreeRTOS tutorial books are available in pdf and paperback. *
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11 * Complete, revised, and edited pdf reference manuals are also *
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14 * Purchasing FreeRTOS documentation will not only help you, by *
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15 * ensuring you get running as quickly as possible and with an *
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16 * in-depth knowledge of how to use FreeRTOS, it will also help *
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17 * the FreeRTOS project to continue with its mission of providing *
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18 * professional grade, cross platform, de facto standard solutions *
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19 * for microcontrollers - completely free of charge! *
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21 * >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
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23 * Thank you for using FreeRTOS, and thank you for your support! *
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25 ***************************************************************************
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28 This file is part of the FreeRTOS distribution.
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30 FreeRTOS is free software; you can redistribute it and/or modify it under
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31 the terms of the GNU General Public License (version 2) as published by the
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32 Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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34 >>>>>>NOTE<<<<<< The modification to the GPL is included to allow you to
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35 distribute a combined work that includes FreeRTOS without being obliged to
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36 provide the source code for proprietary components outside of the FreeRTOS
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39 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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40 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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41 FOR A PARTICULAR PURPOSE. See the GNU General Public License for more
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42 details. You should have received a copy of the GNU General Public License
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43 and the FreeRTOS license exception along with FreeRTOS; if not itcan be
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44 viewed here: http://www.freertos.org/a00114.html and also obtained by
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45 writing to Real Time Engineers Ltd., contact details for whom are available
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46 on the FreeRTOS WEB site.
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50 ***************************************************************************
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52 * Having a problem? Start by reading the FAQ "My application does *
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53 * not run, what could be wrong?" *
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55 * http://www.FreeRTOS.org/FAQHelp.html *
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57 ***************************************************************************
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60 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
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61 license and Real Time Engineers Ltd. contact details.
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63 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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64 including FreeRTOS+Trace - an indispensable productivity tool, and our new
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65 fully thread aware and reentrant UDP/IP stack.
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67 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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68 Integrity Systems, who sell the code with commercial support,
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69 indemnification and middleware, under the OpenRTOS brand.
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71 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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72 engineered and independently SIL3 certified version for use in safety and
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73 mission critical applications that require provable dependability.
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79 * vMain() is effectively the demo application entry point. It is called by
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80 * the main() function generated by the Processor Expert application.
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82 * vMain() creates all the demo application tasks, then starts the scheduler.
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83 * The WEB documentation provides more details of the demo application tasks.
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85 * Main.c also creates a task called "Check". This only executes every three
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86 * seconds but has the highest priority so is guaranteed to get processor time.
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87 * Its main function is to check that all the other tasks are still operational.
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88 * Each task (other than the "flash" tasks) maintains a unique count that is
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89 * incremented each time the task successfully completes its function. Should
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90 * any error occur within such a task the count is permanently halted. The
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91 * check task inspects the count of each task to ensure it has changed since
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92 * the last time the check task executed. If all the count variables have
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93 * changed all the tasks are still executing error free, and the check task
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94 * toggles the onboard LED. Should any task contain an error at any time
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95 * the LED toggle rate will change from 3 seconds to 500ms.
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97 * This file also includes the functionality implemented within the
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98 * standard demo application file integer.c. This is done to demonstrate the
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99 * use of an idle hook. See the documentation within integer.c for the
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100 * rationale of the integer task functionality.
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103 /* Kernel includes. */
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104 #include "FreeRTOS.h"
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108 /* Demo application includes. */
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111 #include "dynamic.h"
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112 #include "partest.h"
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113 #include "comtest2.h"
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114 #include "BlockQ.h"
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115 #include "integer.h"
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119 /*-----------------------------------------------------------
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121 -----------------------------------------------------------*/
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123 /* Priorities assigned to demo application tasks. */
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124 #define mainFLASH_PRIORITY ( tskIDLE_PRIORITY + 2 )
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125 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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126 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 1 )
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127 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
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128 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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129 #define mainDEATH_PRIORITY ( tskIDLE_PRIORITY + 1 )
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131 /* LED that is toggled by the check task. The check task periodically checks
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132 that all the other tasks are operating without error. If no errors are found
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133 the LED is toggled with mainCHECK_PERIOD frequency. If an error is found
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134 then the toggle rate increases to mainERROR_CHECK_PERIOD. */
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135 #define mainCHECK_TASK_LED ( 7 )
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136 #define mainCHECK_PERIOD ( ( portTickType ) 3000 / portTICK_RATE_MS )
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137 #define mainERROR_CHECK_PERIOD ( ( portTickType ) 500 / portTICK_RATE_MS )
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139 /* The constants used in the idle task calculation. */
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140 #define intgCONST1 ( ( long ) 123 )
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141 #define intgCONST2 ( ( long ) 234567 )
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142 #define intgCONST3 ( ( long ) -3 )
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143 #define intgCONST4 ( ( long ) 7 )
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144 #define intgEXPECTED_ANSWER ( ( ( intgCONST1 + intgCONST2 ) * intgCONST3 ) / intgCONST4 )
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147 /* Baud rate used by the serial port tasks (ComTest tasks).
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148 IMPORTANT: The function COM0_SetBaudRateValue() which is generated by the
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149 Processor Expert is used to set the baud rate. As configured in the FreeRTOS
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150 download this value must be one of the following:
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152 0 to configure for 38400 baud.
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153 1 to configure for 19200 baud.
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154 2 to configure for 9600 baud.
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155 3 to configure for 4800 baud. */
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156 #define mainCOM_TEST_BAUD_RATE ( ( unsigned long ) 2 )
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158 /* LED used by the serial port tasks. This is toggled on each character Tx,
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159 and mainCOM_TEST_LED + 1 is toggles on each character Rx. */
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160 #define mainCOM_TEST_LED ( 3 )
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162 /*-----------------------------------------------------------
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163 Local functions prototypes.
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164 -----------------------------------------------------------*/
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167 * The 'Check' task function. See the explanation at the top of the file.
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169 static void vErrorChecks( void* pvParameters );
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172 * The idle task hook - in which the integer task is implemented. See the
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173 * explanation at the top of the file.
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175 void vApplicationIdleHook( void );
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178 * Checks the unique counts of other tasks to ensure they are still operational.
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180 static long prvCheckOtherTasksAreStillRunning( void );
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184 /*-----------------------------------------------------------
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186 -----------------------------------------------------------*/
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188 /* A few tasks are defined within this file. This flag is used to indicate
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189 their status. If an error is detected in one of the locally defined tasks then
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190 this flag is set to pdTRUE. */
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191 portBASE_TYPE xLocalError = pdFALSE;
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194 /*-----------------------------------------------------------*/
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197 * This is called from the main() function generated by the Processor Expert.
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201 /* Start some of the standard demo tasks. */
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202 vStartLEDFlashTasks( mainFLASH_PRIORITY );
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203 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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204 vStartDynamicPriorityTasks();
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205 vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
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206 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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207 vStartIntegerMathTasks( tskIDLE_PRIORITY );
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209 /* Start the locally defined tasks. There is also a task implemented as
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211 xTaskCreate( vErrorChecks, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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213 /* Must be the last demo created. */
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214 vCreateSuicidalTasks( mainDEATH_PRIORITY );
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216 /* All the tasks have been created - start the scheduler. */
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217 vTaskStartScheduler();
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219 /* Should not reach here! */
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222 /*-----------------------------------------------------------*/
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224 static void vErrorChecks( void *pvParameters )
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226 portTickType xDelayPeriod = mainCHECK_PERIOD;
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227 portTickType xLastWakeTime;
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229 /* Initialise xLastWakeTime to ensure the first call to vTaskDelayUntil()
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230 functions correctly. */
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231 xLastWakeTime = xTaskGetTickCount();
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235 /* Delay until it is time to execute again. The delay period is
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236 shorter following an error. */
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237 vTaskDelayUntil( &xLastWakeTime, xDelayPeriod );
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239 /* Check all the demo application tasks are executing without
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240 error. If an error is found the delay period is shortened - this
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241 has the effect of increasing the flash rate of the 'check' task
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243 if( prvCheckOtherTasksAreStillRunning() == pdFAIL )
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245 /* An error has been detected in one of the tasks - flash faster. */
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246 xDelayPeriod = mainERROR_CHECK_PERIOD;
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249 /* Toggle the LED each cycle round. */
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250 vParTestToggleLED( mainCHECK_TASK_LED );
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253 /*-----------------------------------------------------------*/
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255 static long prvCheckOtherTasksAreStillRunning( void )
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257 portBASE_TYPE xAllTasksPassed = pdPASS;
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259 if( xArePollingQueuesStillRunning() != pdTRUE )
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261 xAllTasksPassed = pdFAIL;
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264 if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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266 xAllTasksPassed = pdFAIL;
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269 if( xAreComTestTasksStillRunning() != pdTRUE )
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271 xAllTasksPassed = pdFALSE;
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274 if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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276 xAllTasksPassed = pdFALSE;
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279 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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281 xAllTasksPassed = pdFALSE;
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284 if( xIsCreateTaskStillRunning() != pdTRUE )
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286 xAllTasksPassed = pdFALSE;
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289 /* Also check the status flag for the tasks defined within this function. */
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290 if( xLocalError != pdFALSE )
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292 xAllTasksPassed = pdFAIL;
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295 return xAllTasksPassed;
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297 /*-----------------------------------------------------------*/
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299 void vApplicationIdleHook( void )
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301 /* This variable is effectively set to a constant so it is made volatile to
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302 ensure the compiler does not just get rid of it. */
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303 volatile long lValue;
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305 /* Keep performing a calculation and checking the result against a constant. */
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307 /* Perform the calculation. This will store partial value in
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308 registers, resulting in a good test of the context switch mechanism. */
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309 lValue = intgCONST1;
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310 lValue += intgCONST2;
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311 lValue *= intgCONST3;
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312 lValue /= intgCONST4;
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314 /* Did we perform the calculation correctly with no corruption? */
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315 if( lValue != intgEXPECTED_ANSWER )
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318 portENTER_CRITICAL();
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319 xLocalError = pdTRUE;
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320 portEXIT_CRITICAL();
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323 /* Yield in case cooperative scheduling is being used. */
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324 #if configUSE_PREEMPTION == 0
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330 /*-----------------------------------------------------------*/
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