2 FreeRTOS V8.2.0rc1 - Copyright (C) 2014 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 >>! NOTE: The modification to the GPL is included to allow you to !<<
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14 >>! distribute a combined work that includes FreeRTOS without being !<<
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15 >>! obliged to provide the source code for proprietary components !<<
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16 >>! outside of the FreeRTOS kernel. !<<
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18 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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19 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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20 FOR A PARTICULAR PURPOSE. Full license text is available on the following
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21 link: http://www.freertos.org/a00114.html
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25 ***************************************************************************
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27 * Having a problem? Start by reading the FAQ "My application does *
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28 * not run, what could be wrong?". Have you defined configASSERT()? *
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30 * http://www.FreeRTOS.org/FAQHelp.html *
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32 ***************************************************************************
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34 ***************************************************************************
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36 * FreeRTOS provides completely free yet professionally developed, *
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37 * robust, strictly quality controlled, supported, and cross *
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38 * platform software that is more than just the market leader, it *
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39 * is the industry's de facto standard. *
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41 * Help yourself get started quickly while simultaneously helping *
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42 * to support the FreeRTOS project by purchasing a FreeRTOS *
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43 * tutorial book, reference manual, or both: *
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44 * http://www.FreeRTOS.org/Documentation *
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46 ***************************************************************************
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48 ***************************************************************************
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50 * Investing in training allows your team to be as productive as *
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51 * possible as early as possible, lowering your overall development *
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52 * cost, and enabling you to bring a more robust product to market *
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53 * earlier than would otherwise be possible. Richard Barry is both *
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54 * the architect and key author of FreeRTOS, and so also the world's *
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55 * leading authority on what is the world's most popular real time *
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56 * kernel for deeply embedded MCU designs. Obtaining your training *
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57 * from Richard ensures your team will gain directly from his in-depth *
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58 * product knowledge and years of usage experience. Contact Real Time *
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59 * Engineers Ltd to enquire about the FreeRTOS Masterclass, presented *
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60 * by Richard Barry: http://www.FreeRTOS.org/contact
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62 ***************************************************************************
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64 ***************************************************************************
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66 * You are receiving this top quality software for free. Please play *
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67 * fair and reciprocate by reporting any suspected issues and *
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68 * participating in the community forum: *
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69 * http://www.FreeRTOS.org/support *
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73 ***************************************************************************
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75 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
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76 license and Real Time Engineers Ltd. contact details.
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78 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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79 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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80 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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82 http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
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83 Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
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85 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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86 Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
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87 licenses offer ticketed support, indemnification and commercial middleware.
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89 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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90 engineered and independently SIL3 certified version for use in safety and
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91 mission critical applications that require provable dependability.
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97 * Creates all the demo application tasks and co-routines, then starts the
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100 * Main. c also creates a task called "Print". This only executes every
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101 * five seconds but has the highest priority so is guaranteed to get
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102 * processor time. Its main function is to check that all the other tasks
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103 * are still operational. Nearly all the tasks in the demo application
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104 * maintain a unique count that is incremented each time the task successfully
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105 * completes its function. Should any error occur within the task the count is
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106 * permanently halted. The print task checks the count of each task to ensure
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107 * it has changed since the last time the print task executed. If any count is
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108 * found not to have changed the print task displays an appropriate message.
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109 * If all the tasks are still incrementing their unique counts the print task
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110 * displays an "OK" message.
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112 * The LED flash tasks do not maintain a count as they already provide visual
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113 * feedback of their status.
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115 * The print task blocks on the queue into which messages that require
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116 * displaying are posted. It will therefore only block for the full 5 seconds
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117 * if no messages are posted onto the queue.
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119 * Main. c also provides a demonstration of how the trace visualisation utility
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120 * can be used, and how the scheduler can be stopped.
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122 * \page MainC main.c
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123 * \ingroup DemoFiles
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127 #include <stdlib.h>
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129 #include "FreeRTOS.h"
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131 #include "croutine.h"
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132 #include "partest.h"
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133 #include "serial.h"
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135 /* Demo file headers. */
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136 #include "BlockQ.h"
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139 #include "crflash.h"
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142 #include "comtest.h"
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143 #include "fileio.h"
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144 #include "semtest.h"
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145 #include "integer.h"
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146 #include "dynamic.h"
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147 #include "mevents.h"
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148 #include "crhook.h"
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149 #include "blocktim.h"
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150 #include "AltBlock.h"
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151 #include "GenQTest.h"
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153 #include "countsem.h"
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154 #include "AltQTest.h"
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155 #include "AltPollQ.h"
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156 #include "AltBlckQ.h"
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157 #include "RecMutex.h"
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159 /* Priority definitions for the tasks in the demo application. */
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160 #define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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161 #define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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162 #define mainPRINT_TASK_PRIORITY ( tskIDLE_PRIORITY + 4 )
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163 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
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164 #define mainQUEUE_BLOCK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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165 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
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166 #define mainSEMAPHORE_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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167 #define mainGENERIC_QUEUE_PRIORITY ( tskIDLE_PRIORITY )
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169 #define mainPRINT_STACK_SIZE ( ( unsigned short ) 512 )
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170 #define mainDEBUG_LOG_BUFFER_SIZE ( ( unsigned short ) 20480 )
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172 /* The number of flash co-routines to create. */
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173 #define mainNUM_FLASH_CO_ROUTINES ( 8 )
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175 /* Task function for the "Print" task as described at the top of the file. */
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176 static void vErrorChecks( void *pvParameters );
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178 /* Function that checks the unique count of all the other tasks as described at
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179 the top of the file. */
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180 static void prvCheckOtherTasksAreStillRunning( void );
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182 /* Key presses can be used to start/stop the trace visualisation utility or stop
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184 static void prvCheckForKeyPresses( void );
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186 /* Buffer used by the trace visualisation utility so only needed if the trace
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188 #if configUSE_TRACE_FACILITY == 1
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189 static char pcWriteBuffer[ mainDEBUG_LOG_BUFFER_SIZE ];
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192 /* Constant definition used to turn on/off the pre-emptive scheduler. */
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193 static const short sUsingPreemption = configUSE_PREEMPTION;
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195 /* Start the math tasks appropriate to the build. The Borland port does
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196 not yet support floating point so uses the integer equivalent. */
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197 static void prvStartMathTasks( void );
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199 /* Check which ever tasks are relevant to this build. */
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200 static portBASE_TYPE prvCheckMathTasksAreStillRunning( void );
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202 /* Used to demonstrate the "task switched in" callback function. */
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203 static portBASE_TYPE prvExampleTaskHook( void * pvParameter );
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205 /* Just used to count the number of times the example task callback function is
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206 called, and the number of times a queue send passes. */
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207 static unsigned long long uxCheckTaskHookCallCount = 0;
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208 static unsigned long long uxQueueSendPassedCount = 0;
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210 /*-----------------------------------------------------------*/
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214 /* Initialise hardware and utilities. */
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215 vParTestInitialise();
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216 vPrintInitialise();
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218 /* CREATE ALL THE DEMO APPLICATION TASKS. */
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219 prvStartMathTasks();
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220 vStartComTestTasks( mainCOM_TEST_PRIORITY, serCOM1, ser115200 );
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221 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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222 vStartBlockingQueueTasks( mainQUEUE_BLOCK_PRIORITY );
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223 vCreateBlockTimeTasks();
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224 vStartGenericQueueTasks( mainGENERIC_QUEUE_PRIORITY );
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225 vStartSemaphoreTasks( mainSEMAPHORE_TASK_PRIORITY );
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226 vStartDynamicPriorityTasks();
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227 vStartMultiEventTasks();
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228 vStartQueuePeekTasks();
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229 vStartCountingSemaphoreTasks();
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230 vStartAltGenericQueueTasks( mainGENERIC_QUEUE_PRIORITY );
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231 vCreateAltBlockTimeTasks();
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232 vStartAltBlockingQueueTasks( mainQUEUE_BLOCK_PRIORITY );
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233 vStartAltPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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234 vStartRecursiveMutexTasks();
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236 /* Create the "Print" task as described at the top of the file. */
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237 xTaskCreate( vErrorChecks, "Print", mainPRINT_STACK_SIZE, NULL, mainPRINT_TASK_PRIORITY, NULL );
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239 /* This task has to be created last as it keeps account of the number of tasks
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240 it expects to see running. */
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241 vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
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243 /* Create the co-routines that flash the LED's. */
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244 vStartFlashCoRoutines( mainNUM_FLASH_CO_ROUTINES );
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246 /* Create the co-routines that communicate with the tick hook. */
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247 vStartHookCoRoutines();
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249 /* Set the scheduler running. This function will not return unless a task
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250 calls vTaskEndScheduler(). */
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251 vTaskStartScheduler();
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255 /*-----------------------------------------------------------*/
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257 static portBASE_TYPE prvExampleTaskHook( void * pvParameter )
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259 if( pvParameter != ( void * ) 0xabcd )
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261 /* The parameter did not contain the value we expected, so cause an
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262 error to be detected by setting the call count back to zero. */
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263 uxCheckTaskHookCallCount = 0;
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267 /* Simply increment a number so we know the callback has been executed. */
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268 uxCheckTaskHookCallCount++;
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273 /*-----------------------------------------------------------*/
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275 void vMainQueueSendPassed( void )
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277 /* This is just an example implementation of the "queue send" trace hook. */
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278 uxQueueSendPassedCount++;
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280 /*-----------------------------------------------------------*/
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282 static void vErrorChecks( void *pvParameters )
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284 TickType_t xExpectedWakeTime;
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285 const TickType_t xPrintRate = ( TickType_t ) 5000 / portTICK_PERIOD_MS;
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286 const long lMaxAllowableTimeDifference = ( long ) 0;
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287 TickType_t xWakeTime;
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288 long lTimeDifference;
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289 const char *pcReceivedMessage;
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290 const char * const pcTaskBlockedTooLongMsg = "Print task blocked too long!\r\n";
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291 const char * const pcUnexpectedHookValueMsg = "Task hook has unexpected value!\r\n";
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293 ( void ) pvParameters;
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295 /* Register our callback function. */
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296 vTaskSetApplicationTaskTag( NULL, prvExampleTaskHook );
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298 /* Just for test purposes. */
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299 if( xTaskGetApplicationTaskTag( NULL ) != prvExampleTaskHook )
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301 vPrintDisplayMessage( &pcUnexpectedHookValueMsg );
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304 /* Loop continuously, blocking, then checking all the other tasks are still
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305 running, before blocking once again. This task blocks on the queue of
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306 messages that require displaying so will wake either by its time out expiring,
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307 or a message becoming available. */
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310 /* Calculate the time we will unblock if no messages are received
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311 on the queue. This is used to check that we have not blocked for too long. */
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312 xExpectedWakeTime = xTaskGetTickCount();
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313 xExpectedWakeTime += xPrintRate;
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315 /* Block waiting for either a time out or a message to be posted that
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316 required displaying. */
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317 pcReceivedMessage = pcPrintGetNextMessage( xPrintRate );
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319 /* Was a message received? */
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320 if( pcReceivedMessage == NULL )
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322 /* A message was not received so we timed out, did we unblock at the
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324 xWakeTime = xTaskGetTickCount();
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326 /* Calculate the difference between the time we unblocked and the
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327 time we should have unblocked. */
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328 if( xWakeTime > xExpectedWakeTime )
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330 lTimeDifference = ( long ) ( xWakeTime - xExpectedWakeTime );
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334 lTimeDifference = ( long ) ( xExpectedWakeTime - xWakeTime );
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337 if( lTimeDifference > lMaxAllowableTimeDifference )
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339 /* We blocked too long - create a message that will get
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340 printed out the next time around. If we are not using
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341 preemption then we won't expect the timing to be so
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343 if( sUsingPreemption == pdTRUE )
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345 vPrintDisplayMessage( &pcTaskBlockedTooLongMsg );
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349 /* Check the other tasks are still running, just in case. */
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350 prvCheckOtherTasksAreStillRunning();
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354 /* We unblocked due to a message becoming available. Send the message
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356 vDisplayMessage( pcReceivedMessage );
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359 /* Key presses are used to invoke the trace visualisation utility, or end
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361 prvCheckForKeyPresses();
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364 /*-----------------------------------------------------------*/
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366 static void prvCheckForKeyPresses( void )
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370 taskENTER_CRITICAL();
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372 /* kbhit can be used in .exe's that are executed from the command
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373 line, but not if executed through the debugger. */
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378 taskEXIT_CRITICAL();
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382 /* Key presses can be used to start/stop the trace utility, or end the
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387 /* Only define keys for turning on and off the trace if the trace
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389 #if configUSE_TRACE_FACILITY == 1
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390 case 't' : vTaskList( pcWriteBuffer );
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391 vWriteMessageToDisk( pcWriteBuffer );
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393 /* The legacy trace is no longer supported. Use FreeRTOS+Trace instead
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394 case 's' : vTaskStartTrace( pcWriteBuffer, mainDEBUG_LOG_BUFFER_SIZE );
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398 unsigned long ulBufferLength;
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399 ulBufferLength = ulTaskEndTrace();
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400 vWriteBufferToDisk( pcWriteBuffer, ulBufferLength );
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406 default : vTaskEndScheduler();
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411 /*-----------------------------------------------------------*/
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413 static void prvCheckOtherTasksAreStillRunning( void )
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415 static short sErrorHasOccurred = pdFALSE;
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416 static unsigned long long uxLastHookCallCount = 0, uxLastQueueSendCount = 0;
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418 if( prvCheckMathTasksAreStillRunning() != pdTRUE )
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420 vDisplayMessage( "Maths task count unchanged!\r\n" );
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421 sErrorHasOccurred = pdTRUE;
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424 if( xAreComTestTasksStillRunning() != pdTRUE )
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426 vDisplayMessage( "Com test count unchanged!\r\n" );
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427 sErrorHasOccurred = pdTRUE;
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430 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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432 vDisplayMessage( "Blocking queues count unchanged!\r\n" );
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433 sErrorHasOccurred = pdTRUE;
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436 if( xAreAltBlockingQueuesStillRunning() != pdTRUE )
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438 vDisplayMessage( "Alt blocking queues count unchanged!\r\n" );
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439 sErrorHasOccurred = pdTRUE;
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442 if( xArePollingQueuesStillRunning() != pdTRUE )
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444 vDisplayMessage( "Polling queue count unchanged!\r\n" );
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445 sErrorHasOccurred = pdTRUE;
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448 if( xAreAltPollingQueuesStillRunning() != pdTRUE )
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450 vDisplayMessage( "Alt polling queue count unchanged!\r\n" );
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451 sErrorHasOccurred = pdTRUE;
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454 if( xIsCreateTaskStillRunning() != pdTRUE )
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456 vDisplayMessage( "Incorrect number of tasks running!\r\n" );
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457 sErrorHasOccurred = pdTRUE;
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460 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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462 vDisplayMessage( "Semaphore take count unchanged!\r\n" );
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463 sErrorHasOccurred = pdTRUE;
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466 if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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468 vDisplayMessage( "Dynamic priority count unchanged!\r\n" );
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469 sErrorHasOccurred = pdTRUE;
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472 if( xAreMultiEventTasksStillRunning() != pdTRUE )
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474 vDisplayMessage( "Error in multi events tasks!\r\n" );
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475 sErrorHasOccurred = pdTRUE;
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478 if( xAreFlashCoRoutinesStillRunning() != pdTRUE )
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480 vDisplayMessage( "Error in co-routine flash tasks!\r\n" );
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481 sErrorHasOccurred = pdTRUE;
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484 if( xAreHookCoRoutinesStillRunning() != pdTRUE )
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486 vDisplayMessage( "Error in tick hook to co-routine communications!\r\n" );
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487 sErrorHasOccurred = pdTRUE;
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490 if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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492 vDisplayMessage( "Error in block time test tasks!\r\n" );
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493 sErrorHasOccurred = pdTRUE;
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496 if( xAreAltBlockTimeTestTasksStillRunning() != pdTRUE )
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498 vDisplayMessage( "Error in fast block time test tasks!\r\n" );
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499 sErrorHasOccurred = pdTRUE;
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502 if( xAreGenericQueueTasksStillRunning() != pdTRUE )
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504 vDisplayMessage( "Error in generic queue test task!\r\n" );
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505 sErrorHasOccurred = pdTRUE;
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508 if( xAreAltGenericQueueTasksStillRunning() != pdTRUE )
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510 vDisplayMessage( "Error in fast generic queue test task!\r\n" );
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511 sErrorHasOccurred = pdTRUE;
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514 if( xAreQueuePeekTasksStillRunning() != pdTRUE )
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516 vDisplayMessage( "Error in queue peek test task!\r\n" );
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517 sErrorHasOccurred = pdTRUE;
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520 if( xAreCountingSemaphoreTasksStillRunning() != pdTRUE )
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522 vDisplayMessage( "Error in counting semaphore demo task!\r\n" );
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523 sErrorHasOccurred = pdTRUE;
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526 if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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528 vDisplayMessage( "Error in recursive mutex tasks!\r\n" );
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529 sErrorHasOccurred = pdTRUE;
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532 /* The hook function associated with this task is called each time the task
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533 is switched in. We therefore expect the number of times the callback
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534 function has been executed to have increrment since the last time this
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535 function executed. */
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536 if( uxCheckTaskHookCallCount <= uxLastHookCallCount )
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538 vDisplayMessage( "Error in task hook call count!\r\n" );
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539 sErrorHasOccurred = pdTRUE;
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543 uxLastHookCallCount = uxCheckTaskHookCallCount;
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546 /* We would expect some queue sending to occur between calls of this
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548 if( uxQueueSendPassedCount <= uxLastQueueSendCount )
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550 vDisplayMessage( "Error in queue send hook call count!\r\n" );
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551 sErrorHasOccurred = pdTRUE;
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555 uxLastQueueSendCount = uxQueueSendPassedCount;
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558 if( sErrorHasOccurred == pdFALSE )
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560 vDisplayMessage( "OK " );
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563 /*-----------------------------------------------------------*/
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565 static void prvStartMathTasks( void )
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567 #ifdef BCC_INDUSTRIAL_PC_PORT
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568 /* The Borland project does not yet support floating point. */
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569 vStartIntegerMathTasks( tskIDLE_PRIORITY );
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571 vStartMathTasks( tskIDLE_PRIORITY );
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574 /*-----------------------------------------------------------*/
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576 static portBASE_TYPE prvCheckMathTasksAreStillRunning( void )
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578 #ifdef BCC_INDUSTRIAL_PC_PORT
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579 /* The Borland project does not yet support floating point. */
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580 return xAreIntegerMathsTaskStillRunning();
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582 return xAreMathsTaskStillRunning();
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585 /*-----------------------------------------------------------*/
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587 void vApplicationIdleHook( void )
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589 /* The co-routines are executed in the idle task using the idle task
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591 vCoRoutineSchedule();
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593 /*-----------------------------------------------------------*/
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