2 FreeRTOS V8.2.0 - Copyright (C) 2015 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 ***************************************************************************
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14 >>! NOTE: The modification to the GPL is included to allow you to !<<
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15 >>! distribute a combined work that includes FreeRTOS without being !<<
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16 >>! obliged to provide the source code for proprietary components !<<
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17 >>! outside of the FreeRTOS kernel. !<<
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18 ***************************************************************************
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20 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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21 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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22 FOR A PARTICULAR PURPOSE. Full license text is available on the following
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23 link: http://www.freertos.org/a00114.html
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25 ***************************************************************************
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27 * FreeRTOS provides completely free yet professionally developed, *
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28 * robust, strictly quality controlled, supported, and cross *
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29 * platform software that is more than just the market leader, it *
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30 * is the industry's de facto standard. *
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32 * Help yourself get started quickly while simultaneously helping *
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33 * to support the FreeRTOS project by purchasing a FreeRTOS *
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34 * tutorial book, reference manual, or both: *
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35 * http://www.FreeRTOS.org/Documentation *
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37 ***************************************************************************
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39 http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
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40 the FAQ page "My application does not run, what could be wrong?". Have you
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41 defined configASSERT()?
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43 http://www.FreeRTOS.org/support - In return for receiving this top quality
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44 embedded software for free we request you assist our global community by
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45 participating in the support forum.
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47 http://www.FreeRTOS.org/training - Investing in training allows your team to
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48 be as productive as possible as early as possible. Now you can receive
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49 FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
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50 Ltd, and the world's leading authority on the world's leading RTOS.
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52 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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53 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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54 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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56 http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
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57 Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
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59 http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
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60 Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
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61 licenses offer ticketed support, indemnification and commercial middleware.
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63 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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64 engineered and independently SIL3 certified version for use in safety and
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65 mission critical applications that require provable dependability.
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71 *******************************************************************************
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72 * NOTE 1: The Win32 port is a simulation (or is that emulation?) only! Do not
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73 * expect to get real time behaviour from the Win32 port or this demo
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74 * application. It is provided as a convenient development and demonstration
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75 * test bed only. This was tested using Windows XP on a dual core laptop.
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77 * Windows will not be running the FreeRTOS simulator threads continuously, so
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78 * the timing information in the FreeRTOS+Trace logs have no meaningful units.
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79 * See the documentation page for the Windows simulator for an explanation of
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81 * http://www.freertos.org/FreeRTOS-Windows-Simulator-Emulator-for-Visual-Studio-and-Eclipse-MingW.html
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82 * - READ THE WEB DOCUMENTATION FOR THIS PORT FOR MORE INFORMATION ON USING IT -
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84 * NOTE 2: This project provides two demo applications. A simple blinky style
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85 * project, and a more comprehensive test and demo application. The
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86 * mainCREATE_SIMPLE_BLINKY_DEMO_ONLY setting in main.c is used to select
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87 * between the two. See the notes on using mainCREATE_SIMPLE_BLINKY_DEMO_ONLY
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88 * in main.c. This file implements the comprehensive test and demo version.
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90 * NOTE 3: This file only contains the source code that is specific to the
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91 * basic demo. Generic functions, such FreeRTOS hook functions, are defined in
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93 *******************************************************************************
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95 * main() creates all the demo application tasks, then starts the scheduler.
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96 * The web documentation provides more details of the standard demo application
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97 * tasks, which provide no particular functionality but do provide a good
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98 * example of how to use the FreeRTOS API.
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100 * In addition to the standard demo tasks, the following tasks and tests are
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101 * defined and/or created within this file:
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103 * "Check" task - This only executes every five seconds but has a high priority
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104 * to ensure it gets processor time. Its main function is to check that all the
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105 * standard demo tasks are still operational. While no errors have been
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106 * discovered the check task will print out "OK" and the current simulated tick
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107 * time. If an error is discovered in the execution of a task then the check
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108 * task will print out an appropriate error message.
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113 /* Standard includes. */
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115 #include <stdlib.h>
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117 /* Kernel includes. */
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118 #include <FreeRTOS.h>
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121 #include <timers.h>
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122 #include <semphr.h>
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124 /* Standard demo includes. */
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125 #include "BlockQ.h"
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126 #include "integer.h"
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127 #include "semtest.h"
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129 #include "GenQTest.h"
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131 #include "recmutex.h"
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133 #include "TimerDemo.h"
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134 #include "countsem.h"
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136 #include "dynamic.h"
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137 #include "QueueSet.h"
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138 #include "QueueOverwrite.h"
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139 #include "EventGroupsDemo.h"
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140 #include "IntSemTest.h"
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141 #include "TaskNotify.h"
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143 /* Priorities at which the tasks are created. */
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144 #define mainCHECK_TASK_PRIORITY ( configMAX_PRIORITIES - 2 )
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145 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 1 )
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146 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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147 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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148 #define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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149 #define mainFLASH_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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150 #define mainINTEGER_TASK_PRIORITY ( tskIDLE_PRIORITY )
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151 #define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )
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152 #define mainFLOP_TASK_PRIORITY ( tskIDLE_PRIORITY )
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153 #define mainQUEUE_OVERWRITE_PRIORITY ( tskIDLE_PRIORITY )
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155 #define mainTIMER_TEST_PERIOD ( 50 )
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157 /* Task function prototypes. */
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158 static void prvCheckTask( void *pvParameters );
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160 /* A task that is created from the idle task to test the functionality of
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161 eTaskStateGet(). */
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162 static void prvTestTask( void *pvParameters );
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165 * Called from the idle task hook function to demonstrate a few utility
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166 * functions that are not demonstrated by any of the standard demo tasks.
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168 static void prvDemonstrateTaskStateAndHandleGetFunctions( void );
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171 * Called from the idle task hook function to demonstrate the use of
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172 * xTimerPendFunctionCall() as xTimerPendFunctionCall() is not demonstrated by
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173 * any of the standard demo tasks.
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175 static void prvDemonstratePendingFunctionCall( void );
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178 * The function that is pended by prvDemonstratePendingFunctionCall().
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180 static void prvPendedFunction( void *pvParameter1, uint32_t ulParameter2 );
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183 * A task to demonstrate the use of the xQueueSpacesAvailable() function.
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185 static void prvDemoQueueSpaceFunctions( void *pvParameters );
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187 /*-----------------------------------------------------------*/
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189 /* The variable into which error messages are latched. */
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190 static char *pcStatusMessage = "OK";
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192 /* This semaphore is created purely to test using the vSemaphoreDelete() and
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193 semaphore tracing API functions. It has no other purpose. */
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194 static SemaphoreHandle_t xMutexToDelete = NULL;
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196 /*-----------------------------------------------------------*/
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198 int main_full( void )
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200 /* Start the check task as described at the top of this file. */
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201 xTaskCreate( prvCheckTask, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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203 /* Create the standard demo tasks. */
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204 vStartTaskNotifyTask();
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205 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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206 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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207 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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208 vStartIntegerMathTasks( mainINTEGER_TASK_PRIORITY );
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209 vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
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210 vStartQueuePeekTasks();
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211 vStartMathTasks( mainFLOP_TASK_PRIORITY );
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212 vStartRecursiveMutexTasks();
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213 vStartCountingSemaphoreTasks();
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214 vStartDynamicPriorityTasks();
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215 vStartQueueSetTasks();
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216 vStartQueueOverwriteTask( mainQUEUE_OVERWRITE_PRIORITY );
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217 xTaskCreate( prvDemoQueueSpaceFunctions, "QSpace", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
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218 vStartEventGroupTasks();
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219 vStartInterruptSemaphoreTasks();
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221 #if( configUSE_PREEMPTION != 0 )
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223 /* Don't expect these tasks to pass when preemption is not used. */
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224 vStartTimerDemoTask( mainTIMER_TEST_PERIOD );
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228 /* The suicide tasks must be created last as they need to know how many
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229 tasks were running prior to their creation. This then allows them to
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230 ascertain whether or not the correct/expected number of tasks are running at
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232 vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
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234 /* Create the semaphore that will be deleted in the idle task hook. This
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235 is done purely to test the use of vSemaphoreDelete(). */
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236 xMutexToDelete = xSemaphoreCreateMutex();
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238 /* Start the scheduler itself. */
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239 vTaskStartScheduler();
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241 /* Should never get here unless there was not enough heap space to create
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242 the idle and other system tasks. */
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245 /*-----------------------------------------------------------*/
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247 static void prvCheckTask( void *pvParameters )
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249 TickType_t xNextWakeTime;
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250 const TickType_t xCycleFrequency = 2500 / portTICK_PERIOD_MS;
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252 /* Just to remove compiler warning. */
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253 ( void ) pvParameters;
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255 /* Initialise xNextWakeTime - this only needs to be done once. */
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256 xNextWakeTime = xTaskGetTickCount();
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260 /* Place this task in the blocked state until it is time to run again. */
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261 vTaskDelayUntil( &xNextWakeTime, xCycleFrequency );
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263 /* Check the standard demo tasks are running without error. */
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264 #if( configUSE_PREEMPTION != 0 )
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266 /* These tasks are only created when preemption is used. */
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267 if( xAreTimerDemoTasksStillRunning( xCycleFrequency ) != pdTRUE )
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269 pcStatusMessage = "Error: TimerDemo";
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274 if( xAreTaskNotificationTasksStillRunning() != pdTRUE )
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276 pcStatusMessage = "Error: Notification";
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279 if( xAreInterruptSemaphoreTasksStillRunning() != pdTRUE )
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281 pcStatusMessage = "Error: IntSem";
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283 else if( xAreEventGroupTasksStillRunning() != pdTRUE )
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285 pcStatusMessage = "Error: EventGroup";
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287 else if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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289 pcStatusMessage = "Error: IntMath";
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291 else if( xAreGenericQueueTasksStillRunning() != pdTRUE )
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293 pcStatusMessage = "Error: GenQueue";
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295 else if( xAreQueuePeekTasksStillRunning() != pdTRUE )
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297 pcStatusMessage = "Error: QueuePeek";
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299 else if( xAreBlockingQueuesStillRunning() != pdTRUE )
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301 pcStatusMessage = "Error: BlockQueue";
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303 else if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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305 pcStatusMessage = "Error: SemTest";
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307 else if( xArePollingQueuesStillRunning() != pdTRUE )
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309 pcStatusMessage = "Error: PollQueue";
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311 else if( xAreMathsTaskStillRunning() != pdPASS )
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313 pcStatusMessage = "Error: Flop";
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315 else if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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317 pcStatusMessage = "Error: RecMutex";
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319 else if( xAreCountingSemaphoreTasksStillRunning() != pdTRUE )
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321 pcStatusMessage = "Error: CountSem";
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323 else if( xIsCreateTaskStillRunning() != pdTRUE )
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325 pcStatusMessage = "Error: Death";
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327 else if( xAreDynamicPriorityTasksStillRunning() != pdPASS )
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329 pcStatusMessage = "Error: Dynamic";
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331 else if( xAreQueueSetTasksStillRunning() != pdPASS )
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333 pcStatusMessage = "Error: Queue set";
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335 else if( xIsQueueOverwriteTaskStillRunning() != pdPASS )
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337 pcStatusMessage = "Error: Queue overwrite";
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340 /* This is the only task that uses stdout so its ok to call printf()
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342 printf( "%s - %d\r\n", pcStatusMessage, xTaskGetTickCount() );
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345 /*-----------------------------------------------------------*/
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347 static void prvTestTask( void *pvParameters )
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349 const unsigned long ulMSToSleep = 5;
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351 /* Just to remove compiler warnings. */
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352 ( void ) pvParameters;
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354 /* This task is just used to test the eTaskStateGet() function. It
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355 does not have anything to do. */
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358 /* Sleep to reduce CPU load, but don't sleep indefinitely in case there are
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359 tasks waiting to be terminated by the idle task. */
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360 Sleep( ulMSToSleep );
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363 /*-----------------------------------------------------------*/
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365 /* Called from vApplicationIdleHook(), which is defined in main.c. */
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366 void vFullDemoIdleFunction( void )
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368 const unsigned long ulMSToSleep = 15;
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371 /* Sleep to reduce CPU load, but don't sleep indefinitely in case there are
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372 tasks waiting to be terminated by the idle task. */
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373 Sleep( ulMSToSleep );
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375 /* Demonstrate a few utility functions that are not demonstrated by any of
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376 the standard demo tasks. */
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377 prvDemonstrateTaskStateAndHandleGetFunctions();
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379 /* Demonstrate the use of xTimerPendFunctionCall(), which is not
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380 demonstrated by any of the standard demo tasks. */
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381 prvDemonstratePendingFunctionCall();
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383 /* If xMutexToDelete has not already been deleted, then delete it now.
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384 This is done purely to demonstrate the use of, and test, the
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385 vSemaphoreDelete() macro. Care must be taken not to delete a semaphore
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386 that has tasks blocked on it. */
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387 if( xMutexToDelete != NULL )
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389 vSemaphoreDelete( xMutexToDelete );
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390 xMutexToDelete = NULL;
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393 /* Exercise heap_5 a bit. The malloc failed hook will trap failed
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394 allocations so there is no need to test here. */
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395 pvAllocated = pvPortMalloc( ( rand() % 100 ) + 1 );
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396 vPortFree( pvAllocated );
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398 /*-----------------------------------------------------------*/
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400 /* Called by vApplicationTickHook(), which is defined in main.c. */
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401 void vFullDemoTickHookFunction( void )
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403 TaskHandle_t xTimerTask;
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405 /* Call the periodic timer test, which tests the timer API functions that
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406 can be called from an ISR. */
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407 #if( configUSE_PREEMPTION != 0 )
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409 /* Only created when preemption is used. */
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410 vTimerPeriodicISRTests();
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414 /* Call the periodic queue overwrite from ISR demo. */
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415 vQueueOverwritePeriodicISRDemo();
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417 /* Write to a queue that is in use as part of the queue set demo to
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418 demonstrate using queue sets from an ISR. */
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419 vQueueSetAccessQueueSetFromISR();
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421 /* Exercise event groups from interrupts. */
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422 vPeriodicEventGroupsProcessing();
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424 /* Exercise giving mutexes from an interrupt. */
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425 vInterruptSemaphorePeriodicTest();
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427 /* Exercise using task notifications from an interrupt. */
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428 xNotifyTaskFromISR();
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430 /* For code coverage purposes. */
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431 xTimerTask = xTimerGetTimerDaemonTaskHandle();
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432 configASSERT( uxTaskPriorityGetFromISR( xTimerTask ) == configTIMER_TASK_PRIORITY );
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434 /*-----------------------------------------------------------*/
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436 static void prvPendedFunction( void *pvParameter1, uint32_t ulParameter2 )
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438 static uint32_t ulLastParameter1 = 1000UL, ulLastParameter2 = 0UL;
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439 uint32_t ulParameter1;
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441 ulParameter1 = ( uint32_t ) pvParameter1;
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443 /* Ensure the parameters are as expected. */
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444 configASSERT( ulParameter1 == ( ulLastParameter1 + 1 ) );
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445 configASSERT( ulParameter2 == ( ulLastParameter2 + 1 ) );
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447 /* Remember the parameters for the next time the function is called. */
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448 ulLastParameter1 = ulParameter1;
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449 ulLastParameter2 = ulParameter2;
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451 /*-----------------------------------------------------------*/
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453 static void prvDemonstratePendingFunctionCall( void )
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455 static uint32_t ulParameter1 = 1000UL, ulParameter2 = 0UL;
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456 const TickType_t xDontBlock = 0; /* This is called from the idle task so must *not* attempt to block. */
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458 /* prvPendedFunction() just expects the parameters to be incremented by one
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459 each time it is called. */
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463 /* Pend the function call, sending the parameters. */
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464 xTimerPendFunctionCall( prvPendedFunction, ( void * ) ulParameter1, ulParameter2, xDontBlock );
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466 /*-----------------------------------------------------------*/
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468 static void prvDemonstrateTaskStateAndHandleGetFunctions( void )
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470 TaskHandle_t xIdleTaskHandle, xTimerTaskHandle;
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472 static portBASE_TYPE xPerformedOneShotTests = pdFALSE;
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473 TaskHandle_t xTestTask;
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475 /* Demonstrate the use of the xTimerGetTimerDaemonTaskHandle() and
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476 xTaskGetIdleTaskHandle() functions. Also try using the function that sets
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477 the task number. */
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478 xIdleTaskHandle = xTaskGetIdleTaskHandle();
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479 xTimerTaskHandle = xTimerGetTimerDaemonTaskHandle();
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481 /* This is the idle hook, so the current task handle should equal the
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482 returned idle task handle. */
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483 if( xTaskGetCurrentTaskHandle() != xIdleTaskHandle )
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485 pcStatusMessage = "Error: Returned idle task handle was incorrect";
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488 /* Check the timer task handle was returned correctly. */
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489 pcTaskName = pcTaskGetTaskName( xTimerTaskHandle );
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490 if( strcmp( pcTaskName, "Tmr Svc" ) != 0 )
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492 pcStatusMessage = "Error: Returned timer task handle was incorrect";
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495 /* This task is running, make sure it's state is returned as running. */
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496 if( eTaskStateGet( xIdleTaskHandle ) != eRunning )
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498 pcStatusMessage = "Error: Returned idle task state was incorrect";
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501 /* If this task is running, then the timer task must be blocked. */
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502 if( eTaskStateGet( xTimerTaskHandle ) != eBlocked )
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504 pcStatusMessage = "Error: Returned timer task state was incorrect";
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507 /* Other tests that should only be performed once follow. The test task
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508 is not created on each iteration because to do so would cause the death
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509 task to report an error (too many tasks running). */
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510 if( xPerformedOneShotTests == pdFALSE )
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512 /* Don't run this part of the test again. */
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513 xPerformedOneShotTests = pdTRUE;
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515 /* Create a test task to use to test other eTaskStateGet() return values. */
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516 if( xTaskCreate( prvTestTask, "Test", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, &xTestTask ) == pdPASS )
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518 /* If this task is running, the test task must be in the ready state. */
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519 if( eTaskStateGet( xTestTask ) != eReady )
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521 pcStatusMessage = "Error: Returned test task state was incorrect 1";
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524 /* Now suspend the test task and check its state is reported correctly. */
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525 vTaskSuspend( xTestTask );
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526 if( eTaskStateGet( xTestTask ) != eSuspended )
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528 pcStatusMessage = "Error: Returned test task state was incorrect 2";
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531 /* Now delete the task and check its state is reported correctly. */
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532 vTaskDelete( xTestTask );
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533 if( eTaskStateGet( xTestTask ) != eDeleted )
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535 pcStatusMessage = "Error: Returned test task state was incorrect 3";
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540 /*-----------------------------------------------------------*/
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542 static void prvDemoQueueSpaceFunctions( void *pvParameters )
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544 QueueHandle_t xQueue = NULL;
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545 const unsigned portBASE_TYPE uxQueueLength = 10;
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546 unsigned portBASE_TYPE uxReturn, x;
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548 /* Remove compiler warnings. */
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549 ( void ) pvParameters;
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551 /* Create the queue that will be used. Nothing is actually going to be
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552 sent or received so the queue item size is set to 0. */
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553 xQueue = xQueueCreate( uxQueueLength, 0 );
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554 configASSERT( xQueue );
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558 for( x = 0; x < uxQueueLength; x++ )
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560 /* Ask how many messages are available... */
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561 uxReturn = uxQueueMessagesWaiting( xQueue );
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563 /* Check the number of messages being reported as being available
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564 is as expected, and force an assert if not. */
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565 if( uxReturn != x )
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567 /* xQueue cannot be NULL so this is deliberately causing an
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568 assert to be triggered as there is an error. */
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569 configASSERT( xQueue == NULL );
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572 /* Ask how many spaces remain in the queue... */
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573 uxReturn = uxQueueSpacesAvailable( xQueue );
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575 /* Check the number of spaces being reported as being available
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576 is as expected, and force an assert if not. */
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577 if( uxReturn != ( uxQueueLength - x ) )
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579 /* xQueue cannot be NULL so this is deliberately causing an
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580 assert to be triggered as there is an error. */
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581 configASSERT( xQueue == NULL );
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584 /* Fill one more space in the queue. */
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585 xQueueSendToBack( xQueue, NULL, 0 );
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588 /* Perform the same check while the queue is full. */
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589 uxReturn = uxQueueMessagesWaiting( xQueue );
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590 if( uxReturn != uxQueueLength )
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592 configASSERT( xQueue == NULL );
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595 uxReturn = uxQueueSpacesAvailable( xQueue );
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597 if( uxReturn != 0 )
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599 configASSERT( xQueue == NULL );
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602 /* The queue is full, start again. */
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603 xQueueReset( xQueue );
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605 #if( configUSE_PREEMPTION == 0 )
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