3 * FreeRTOS Kernel V10.0.0
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4 * Copyright (C) 2017 Amazon.com, Inc. or its affiliates. All Rights Reserved.
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6 * Permission is hereby granted, free of charge, to any person obtaining a copy of
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7 * this software and associated documentation files (the "Software"), to deal in
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8 * the Software without restriction, including without limitation the rights to
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9 * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
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10 * the Software, and to permit persons to whom the Software is furnished to do so,
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11 * subject to the following conditions:
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13 * The above copyright notice and this permission notice shall be included in all
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14 * copies or substantial portions of the Software. If you wish to use our Amazon
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15 * FreeRTOS name, please do so in a fair use way that does not cause confusion.
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17 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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18 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
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19 * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
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20 * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
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21 * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
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22 * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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24 * http://www.FreeRTOS.org
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25 * http://aws.amazon.com/freertos
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27 * 1 tab == 4 spaces!
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33 * main() creates all the demo application tasks, then starts the scheduler.
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34 * The WEB documentation provides more details of the demo application tasks.
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36 * main.c also creates a task called "Check". This only executes every three
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37 * seconds but has the highest priority so is guaranteed to get processor time.
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38 * Its main function is to check that all the other tasks are still operational.
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39 * Each task (other than the "flash" tasks) maintains a unique count that is
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40 * incremented each time the task successfully completes its function. Should
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41 * any error occur within such a task the count is permanently halted. The
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42 * check task inspects the count of each task to ensure it has changed since
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43 * the last time the check task executed. If all the count variables have
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44 * changed all the tasks are still executing error free, and the check task
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45 * toggles the onboard LED. Should any task contain an error at any time
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46 * the LED toggle rate will change from 3 seconds to 500ms.
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48 * This file also includes the functionality implemented within the
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49 * standard demo application file integer.c. This is done to demonstrate the
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50 * use of an idle hook. See the documentation within integer.c for the
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51 * rationale of the integer task functionality.
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54 /* Kernel includes. */
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55 #include "FreeRTOS.h"
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61 /* special prototypes for memory-banked functions */
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62 void vStartPolledQueueTasks( unsigned portBASE_TYPE uxPriority );
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63 portBASE_TYPE xArePollingQueuesStillRunning( void );
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65 /* Demo application includes. */
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68 #include "dynamic.h"
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69 #include "partest.h"
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70 #include "comtest2.h"
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72 #include "integer.h"
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76 /*-----------------------------------------------------------
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78 -----------------------------------------------------------*/
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80 /* Priorities assigned to demo application tasks. */
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81 #define mainFLASH_PRIORITY ( tskIDLE_PRIORITY + 2 )
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82 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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83 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 1 )
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84 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
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85 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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86 #define mainDEATH_PRIORITY ( tskIDLE_PRIORITY + 1 )
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88 /* LED that is toggled by the check task. The check task periodically checks
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89 that all the other tasks are operating without error. If no errors are found
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90 the LED is toggled with mainCHECK_PERIOD frequency. If an error is found
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91 then the toggle rate increases to mainERROR_CHECK_PERIOD. */
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92 #define mainCHECK_TASK_LED ( 7 )
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93 #define mainCHECK_PERIOD ( ( TickType_t ) 3000 / portTICK_PERIOD_MS )
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94 #define mainERROR_CHECK_PERIOD ( ( TickType_t ) 500 / portTICK_PERIOD_MS )
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96 /* The constants used in the idle task calculation. */
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97 #define intgCONST1 ( ( long ) 123 )
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98 #define intgCONST2 ( ( long ) 234567 )
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99 #define intgCONST3 ( ( long ) -3 )
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100 #define intgCONST4 ( ( long ) 7 )
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101 #define intgEXPECTED_ANSWER ( ( ( intgCONST1 + intgCONST2 ) * intgCONST3 ) / intgCONST4 )
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104 /* Baud rate used by the serial port tasks (ComTest tasks).
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105 IMPORTANT: The function COM0_SetBaudRateValue() which is generated by the
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106 Processor Expert is used to set the baud rate. As configured in the FreeRTOS
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107 download this value must be one of the following:
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109 0 to configure for 38400 baud.
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110 1 to configure for 19200 baud.
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111 2 to configure for 9600 baud.
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112 3 to configure for 4800 baud. */
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113 #define mainCOM_TEST_BAUD_RATE ( ( unsigned long ) 2 )
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115 /* LED used by the serial port tasks. This is toggled on each character Tx,
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116 and mainCOM_TEST_LED + 1 is toggles on each character Rx. */
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117 #define mainCOM_TEST_LED ( 3 )
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119 /*-----------------------------------------------------------
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120 Local functions prototypes.
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121 -----------------------------------------------------------*/
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124 * The 'Check' task function. See the explanation at the top of the file.
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126 static void ATTR_BANK1 vErrorChecks( void* pvParameters );
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129 * The idle task hook - in which the integer task is implemented. See the
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130 * explanation at the top of the file.
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132 void ATTR_BANK0 vApplicationIdleHook( void );
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135 * Checks the unique counts of other tasks to ensure they are still operational.
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137 static long ATTR_BANK0 prvCheckOtherTasksAreStillRunning( void );
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141 /*-----------------------------------------------------------
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143 -----------------------------------------------------------*/
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145 /* A few tasks are defined within this file. This flag is used to indicate
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146 their status. If an error is detected in one of the locally defined tasks then
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147 this flag is set to pdTRUE. */
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148 portBASE_TYPE xLocalError = pdFALSE;
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151 /*-----------------------------------------------------------*/
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153 /* This is called from startup. */
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154 int ATTR_BANK0 main ( void )
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156 /* Start some of the standard demo tasks. */
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157 vStartLEDFlashTasks( mainFLASH_PRIORITY );
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158 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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159 vStartDynamicPriorityTasks();
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160 vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
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161 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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162 vStartIntegerMathTasks( tskIDLE_PRIORITY );
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164 /* Start the locally defined tasks. There is also a task implemented as
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166 xTaskCreate( vErrorChecks, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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168 /* Must be the last demo created. */
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169 vCreateSuicidalTasks( mainDEATH_PRIORITY );
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171 /* All the tasks have been created - start the scheduler. */
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172 vTaskStartScheduler();
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174 /* Should not reach here! */
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178 /*-----------------------------------------------------------*/
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180 static void vErrorChecks( void *pvParameters )
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182 TickType_t xDelayPeriod = mainCHECK_PERIOD;
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183 TickType_t xLastWakeTime;
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185 /* Initialise xLastWakeTime to ensure the first call to vTaskDelayUntil()
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186 functions correctly. */
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187 xLastWakeTime = xTaskGetTickCount();
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191 /* Delay until it is time to execute again. The delay period is
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192 shorter following an error. */
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193 vTaskDelayUntil( &xLastWakeTime, xDelayPeriod );
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195 /* Check all the demo application tasks are executing without
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196 error. If an error is found the delay period is shortened - this
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197 has the effect of increasing the flash rate of the 'check' task
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199 if( prvCheckOtherTasksAreStillRunning() == pdFAIL )
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201 /* An error has been detected in one of the tasks - flash faster. */
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202 xDelayPeriod = mainERROR_CHECK_PERIOD;
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205 /* Toggle the LED each cycle round. */
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206 vParTestToggleLED( mainCHECK_TASK_LED );
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209 /*-----------------------------------------------------------*/
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211 static long prvCheckOtherTasksAreStillRunning( void )
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213 portBASE_TYPE xAllTasksPassed = pdPASS;
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215 if( xArePollingQueuesStillRunning() != pdTRUE )
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217 xAllTasksPassed = pdFAIL;
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220 if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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222 xAllTasksPassed = pdFAIL;
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225 if( xAreComTestTasksStillRunning() != pdTRUE )
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227 xAllTasksPassed = pdFALSE;
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230 if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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232 xAllTasksPassed = pdFALSE;
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235 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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237 xAllTasksPassed = pdFALSE;
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240 if( xIsCreateTaskStillRunning() != pdTRUE )
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242 xAllTasksPassed = pdFALSE;
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245 /* Also check the status flag for the tasks defined within this function. */
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246 if( xLocalError != pdFALSE )
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248 xAllTasksPassed = pdFAIL;
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251 return xAllTasksPassed;
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253 /*-----------------------------------------------------------*/
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255 void vApplicationIdleHook( void )
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257 /* This variable is effectively set to a constant so it is made volatile to
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258 ensure the compiler does not just get rid of it. */
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259 volatile long lValue;
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261 /* Keep performing a calculation and checking the result against a constant. */
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263 /* Perform the calculation. This will store partial value in
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264 registers, resulting in a good test of the context switch mechanism. */
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265 lValue = intgCONST1;
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266 lValue += intgCONST2;
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267 lValue *= intgCONST3;
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268 lValue /= intgCONST4;
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270 /* Did we perform the calculation correctly with no corruption? */
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271 if( lValue != intgEXPECTED_ANSWER )
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274 portENTER_CRITICAL();
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275 xLocalError = pdTRUE;
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276 portEXIT_CRITICAL();
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279 /* Yield in case cooperative scheduling is being used. */
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280 #if configUSE_PREEMPTION == 0
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286 /*-----------------------------------------------------------*/
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