3 FreeRTOS V9.0.0rc2 - Copyright (C) 2016 Real Time Engineers Ltd.
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6 VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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8 This file is part of the FreeRTOS distribution.
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10 FreeRTOS is free software; you can redistribute it and/or modify it under
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11 the terms of the GNU General Public License (version 2) as published by the
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12 Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception.
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14 ***************************************************************************
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15 >>! NOTE: The modification to the GPL is included to allow you to !<<
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16 >>! distribute a combined work that includes FreeRTOS without being !<<
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17 >>! obliged to provide the source code for proprietary components !<<
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18 >>! outside of the FreeRTOS kernel. !<<
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19 ***************************************************************************
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21 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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22 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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23 FOR A PARTICULAR PURPOSE. Full license text is available on the following
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24 link: http://www.freertos.org/a00114.html
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26 ***************************************************************************
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28 * FreeRTOS provides completely free yet professionally developed, *
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29 * robust, strictly quality controlled, supported, and cross *
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30 * platform software that is more than just the market leader, it *
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31 * is the industry's de facto standard. *
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33 * Help yourself get started quickly while simultaneously helping *
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34 * to support the FreeRTOS project by purchasing a FreeRTOS *
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35 * tutorial book, reference manual, or both: *
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36 * http://www.FreeRTOS.org/Documentation *
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38 ***************************************************************************
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40 http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
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41 the FAQ page "My application does not run, what could be wrong?". Have you
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42 defined configASSERT()?
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44 http://www.FreeRTOS.org/support - In return for receiving this top quality
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45 embedded software for free we request you assist our global community by
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46 participating in the support forum.
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48 http://www.FreeRTOS.org/training - Investing in training allows your team to
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49 be as productive as possible as early as possible. Now you can receive
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50 FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
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51 Ltd, and the world's leading authority on the world's leading RTOS.
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53 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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54 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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55 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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57 http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
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58 Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
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60 http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
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61 Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
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62 licenses offer ticketed support, indemnification and commercial middleware.
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64 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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65 engineered and independently SIL3 certified version for use in safety and
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66 mission critical applications that require provable dependability.
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74 * vMain() is effectively the demo application entry point. It is called by
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75 * the main() function generated by the Processor Expert application.
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77 * vMain() creates all the demo application tasks, then starts the scheduler.
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78 * The WEB documentation provides more details of the demo application tasks.
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80 * Main.c also creates a task called "Check". This only executes every three
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81 * seconds but has the highest priority so is guaranteed to get processor time.
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82 * Its main function is to check that all the other tasks are still operational.
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83 * Each task (other than the "flash" tasks) maintains a unique count that is
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84 * incremented each time the task successfully completes its function. Should
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85 * any error occur within such a task the count is permanently halted. The
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86 * check task inspects the count of each task to ensure it has changed since
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87 * the last time the check task executed. If all the count variables have
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88 * changed all the tasks are still executing error free, and the check task
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89 * toggles the onboard LED. Should any task contain an error at any time
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90 * the LED toggle rate will change from 3 seconds to 500ms.
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92 * This file also includes the functionality implemented within the
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93 * standard demo application file integer.c. This is done to demonstrate the
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94 * use of an idle hook. See the documentation within integer.c for the
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95 * rationale of the integer task functionality.
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98 /* Kernel includes. */
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99 #include "FreeRTOS.h"
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103 /* Demo application includes. */
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106 #include "dynamic.h"
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107 #include "partest.h"
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108 #include "comtest2.h"
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109 #include "BlockQ.h"
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110 #include "integer.h"
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114 /*-----------------------------------------------------------
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116 -----------------------------------------------------------*/
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118 /* Priorities assigned to demo application tasks. */
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119 #define mainFLASH_PRIORITY ( tskIDLE_PRIORITY + 2 )
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120 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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121 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 1 )
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122 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
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123 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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124 #define mainDEATH_PRIORITY ( tskIDLE_PRIORITY + 1 )
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126 /* LED that is toggled by the check task. The check task periodically checks
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127 that all the other tasks are operating without error. If no errors are found
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128 the LED is toggled with mainCHECK_PERIOD frequency. If an error is found
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129 then the toggle rate increases to mainERROR_CHECK_PERIOD. */
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130 #define mainCHECK_TASK_LED ( 7 )
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131 #define mainCHECK_PERIOD ( ( TickType_t ) 3000 / portTICK_PERIOD_MS )
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132 #define mainERROR_CHECK_PERIOD ( ( TickType_t ) 500 / portTICK_PERIOD_MS )
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134 /* The constants used in the idle task calculation. */
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135 #define intgCONST1 ( ( long ) 123 )
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136 #define intgCONST2 ( ( long ) 234567 )
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137 #define intgCONST3 ( ( long ) -3 )
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138 #define intgCONST4 ( ( long ) 7 )
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139 #define intgEXPECTED_ANSWER ( ( ( intgCONST1 + intgCONST2 ) * intgCONST3 ) / intgCONST4 )
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142 /* Baud rate used by the serial port tasks (ComTest tasks).
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143 IMPORTANT: The function COM0_SetBaudRateValue() which is generated by the
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144 Processor Expert is used to set the baud rate. As configured in the FreeRTOS
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145 download this value must be one of the following:
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147 0 to configure for 38400 baud.
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148 1 to configure for 19200 baud.
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149 2 to configure for 9600 baud.
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150 3 to configure for 4800 baud. */
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151 #define mainCOM_TEST_BAUD_RATE ( ( unsigned long ) 2 )
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153 /* LED used by the serial port tasks. This is toggled on each character Tx,
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154 and mainCOM_TEST_LED + 1 is toggles on each character Rx. */
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155 #define mainCOM_TEST_LED ( 3 )
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157 /*-----------------------------------------------------------
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158 Local functions prototypes.
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159 -----------------------------------------------------------*/
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162 * The 'Check' task function. See the explanation at the top of the file.
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164 static void vErrorChecks( void* pvParameters );
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167 * The idle task hook - in which the integer task is implemented. See the
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168 * explanation at the top of the file.
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170 void vApplicationIdleHook( void );
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173 * Checks the unique counts of other tasks to ensure they are still operational.
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175 static long prvCheckOtherTasksAreStillRunning( void );
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179 /*-----------------------------------------------------------
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181 -----------------------------------------------------------*/
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183 /* A few tasks are defined within this file. This flag is used to indicate
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184 their status. If an error is detected in one of the locally defined tasks then
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185 this flag is set to pdTRUE. */
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186 portBASE_TYPE xLocalError = pdFALSE;
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189 /*-----------------------------------------------------------*/
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192 * This is called from the main() function generated by the Processor Expert.
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196 /* Start some of the standard demo tasks. */
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197 vStartLEDFlashTasks( mainFLASH_PRIORITY );
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198 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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199 vStartDynamicPriorityTasks();
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200 vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
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201 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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202 vStartIntegerMathTasks( tskIDLE_PRIORITY );
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204 /* Start the locally defined tasks. There is also a task implemented as
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206 xTaskCreate( vErrorChecks, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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208 /* Must be the last demo created. */
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209 vCreateSuicidalTasks( mainDEATH_PRIORITY );
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211 /* All the tasks have been created - start the scheduler. */
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212 vTaskStartScheduler();
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214 /* Should not reach here! */
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217 /*-----------------------------------------------------------*/
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219 static void vErrorChecks( void *pvParameters )
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221 TickType_t xDelayPeriod = mainCHECK_PERIOD;
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222 TickType_t xLastWakeTime;
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224 /* Initialise xLastWakeTime to ensure the first call to vTaskDelayUntil()
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225 functions correctly. */
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226 xLastWakeTime = xTaskGetTickCount();
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230 /* Delay until it is time to execute again. The delay period is
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231 shorter following an error. */
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232 vTaskDelayUntil( &xLastWakeTime, xDelayPeriod );
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234 /* Check all the demo application tasks are executing without
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235 error. If an error is found the delay period is shortened - this
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236 has the effect of increasing the flash rate of the 'check' task
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238 if( prvCheckOtherTasksAreStillRunning() == pdFAIL )
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240 /* An error has been detected in one of the tasks - flash faster. */
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241 xDelayPeriod = mainERROR_CHECK_PERIOD;
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244 /* Toggle the LED each cycle round. */
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245 vParTestToggleLED( mainCHECK_TASK_LED );
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248 /*-----------------------------------------------------------*/
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250 static long prvCheckOtherTasksAreStillRunning( void )
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252 portBASE_TYPE xAllTasksPassed = pdPASS;
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254 if( xArePollingQueuesStillRunning() != pdTRUE )
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256 xAllTasksPassed = pdFAIL;
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259 if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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261 xAllTasksPassed = pdFAIL;
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264 if( xAreComTestTasksStillRunning() != pdTRUE )
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266 xAllTasksPassed = pdFALSE;
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269 if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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271 xAllTasksPassed = pdFALSE;
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274 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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276 xAllTasksPassed = pdFALSE;
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279 if( xIsCreateTaskStillRunning() != pdTRUE )
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281 xAllTasksPassed = pdFALSE;
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284 /* Also check the status flag for the tasks defined within this function. */
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285 if( xLocalError != pdFALSE )
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287 xAllTasksPassed = pdFAIL;
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290 return xAllTasksPassed;
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292 /*-----------------------------------------------------------*/
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294 void vApplicationIdleHook( void )
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296 /* This variable is effectively set to a constant so it is made volatile to
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297 ensure the compiler does not just get rid of it. */
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298 volatile long lValue;
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300 /* Keep performing a calculation and checking the result against a constant. */
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302 /* Perform the calculation. This will store partial value in
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303 registers, resulting in a good test of the context switch mechanism. */
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304 lValue = intgCONST1;
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305 lValue += intgCONST2;
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306 lValue *= intgCONST3;
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307 lValue /= intgCONST4;
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309 /* Did we perform the calculation correctly with no corruption? */
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310 if( lValue != intgEXPECTED_ANSWER )
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313 portENTER_CRITICAL();
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314 xLocalError = pdTRUE;
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315 portEXIT_CRITICAL();
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318 /* Yield in case cooperative scheduling is being used. */
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319 #if configUSE_PREEMPTION == 0
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325 /*-----------------------------------------------------------*/
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