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[/] [openrisc/] [trunk/] [rtos/] [freertos-6.1.1/] [Demo/] [ARM7_AT91SAM7S64_IAR/] [main.c] - Blame information for rev 606

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1 577 jeremybenn
/*
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    FreeRTOS V6.1.1 - Copyright (C) 2011 Real Time Engineers Ltd.
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    ***************************************************************************
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    *                                                                         *
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    * If you are:                                                             *
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    *                                                                         *
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    *    + New to FreeRTOS,                                                   *
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    *    + Wanting to learn FreeRTOS or multitasking in general quickly       *
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    *    + Looking for basic training,                                        *
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    *    + Wanting to improve your FreeRTOS skills and productivity           *
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    *                                                                         *
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    * then take a look at the FreeRTOS books - available as PDF or paperback  *
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    *                                                                         *
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    *        "Using the FreeRTOS Real Time Kernel - a Practical Guide"        *
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    *                  http://www.FreeRTOS.org/Documentation                  *
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    *                                                                         *
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    * A pdf reference manual is also available.  Both are usually delivered   *
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    * to your inbox within 20 minutes to two hours when purchased between 8am *
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    * and 8pm GMT (although please allow up to 24 hours in case of            *
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    * exceptional circumstances).  Thank you for your support!                *
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    *                                                                         *
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    ***************************************************************************
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    This file is part of the FreeRTOS distribution.
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    FreeRTOS is free software; you can redistribute it and/or modify it under
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    the terms of the GNU General Public License (version 2) as published by the
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    Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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    ***NOTE*** The exception to the GPL is included to allow you to distribute
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    a combined work that includes FreeRTOS without being obliged to provide the
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    source code for proprietary components outside of the FreeRTOS kernel.
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    FreeRTOS is distributed in the hope that it will be useful, but WITHOUT
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    ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
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    FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
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    more details. You should have received a copy of the GNU General Public
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    License and the FreeRTOS license exception along with FreeRTOS; if not it
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    can be viewed here: http://www.freertos.org/a00114.html and also obtained
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    by writing to Richard Barry, contact details for whom are available on the
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    FreeRTOS WEB site.
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    1 tab == 4 spaces!
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    http://www.FreeRTOS.org - Documentation, latest information, license and
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    contact details.
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    http://www.SafeRTOS.com - A version that is certified for use in safety
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    critical systems.
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    http://www.OpenRTOS.com - Commercial support, development, porting,
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    licensing and training services.
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*/
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/*
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        NOTE : Tasks run in system mode and the scheduler runs in Supervisor mode.
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        The processor MUST be in supervisor mode when vTaskStartScheduler is
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        called.  The demo applications included in the FreeRTOS.org download switch
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        to supervisor mode prior to main being called.  If you are not using one of
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        these demo application projects then ensure Supervisor mode is used.
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*/
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/*
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 * Creates all the demo application tasks, then starts the scheduler.  The WEB
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 * documentation provides more details of the demo application tasks.  The SAM7
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 * includes a sample USB that emulates a Joystick input to a USB host.
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 *
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 * Main.c also creates a task called "Check".  This only executes every three
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 * seconds but has the highest priority so is guaranteed to get processor time.
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 * Its main function is to check that all the other tasks are still operational.
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 * Each task (other than the "flash" tasks) maintains a unique count that is
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 * incremented each time the task successfully completes its function.  Should
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 * any error occur within such a task the count is permanently halted.  The
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 * check task inspects the count of each task to ensure it has changed since
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 * the last time the check task executed.  If all the count variables have
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 * changed all the tasks are still executing error free, and the check task
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 * toggles the onboard LED.  Should any task contain an error at any time
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 * the LED toggle rate will change from 3 seconds to 500ms.
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 *
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 */
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/* Standard includes. */
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#include <stdlib.h>
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/* Scheduler includes. */
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#include "FreeRTOS.h"
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#include "task.h"
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/* Demo application includes. */
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#include "flash.h"
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#include "integer.h"
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#include "PollQ.h"
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#include "BlockQ.h"
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#include "semtest.h"
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#include "dynamic.h"
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#include "partest.h"
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#include "comtest2.h"
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#include "USB/USBSample.h"
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/* Priorities for the demo application tasks. */
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#define mainLED_TASK_PRIORITY           ( tskIDLE_PRIORITY + 3 )
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#define mainQUEUE_POLL_PRIORITY         ( tskIDLE_PRIORITY + 2 )
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#define mainCHECK_TASK_PRIORITY         ( tskIDLE_PRIORITY + 4 )
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#define mainSEM_TEST_PRIORITY           ( tskIDLE_PRIORITY + 1 )
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#define mainBLOCK_Q_PRIORITY            ( tskIDLE_PRIORITY + 2 )
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#define mainCOM_TEST_PRIORITY           ( tskIDLE_PRIORITY + 2 )
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#define mainUSB_PRIORITY                        ( tskIDLE_PRIORITY + 2 )
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/* Constants required by the 'Check' task. */
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#define mainNO_ERROR_FLASH_PERIOD       ( ( portTickType ) 3000 / portTICK_RATE_MS  )
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#define mainERROR_FLASH_PERIOD          ( ( portTickType ) 500 / portTICK_RATE_MS  )
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#define mainCHECK_TASK_LED                      ( 3 )
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/* Constants for the ComTest tasks. */
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#define mainCOM_TEST_BAUD_RATE          ( ( unsigned long ) 115200 )
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#define mainCOM_TEST_LED                        ( 4 ) /* Off the board. */
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/*
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 * The task that executes at the highest priority and calls
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 * prvCheckOtherTasksAreStillRunning().  See the description at the top
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 * of the file.
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 */
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static void vErrorChecks( void *pvParameters );
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/*
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 * Configure the processor for use with the Atmel demo board.  Setup is minimal
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 * as the low level init function (called from the startup asm file) takes care
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 * of most things.
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 */
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static void prvSetupHardware( void );
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/*
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 * Checks that all the demo application tasks are still executing without error
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 * - as described at the top of the file.
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 */
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static long prvCheckOtherTasksAreStillRunning( void );
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/*-----------------------------------------------------------*/
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/*
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 * Starts all the other tasks, then starts the scheduler.
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 */
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void main( void )
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{
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        /* Setup any hardware that has not already been configured by the low
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        level init routines. */
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        prvSetupHardware();
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        /* Initialise the LED outputs for use by the demo application tasks. */
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        vParTestInitialise();
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        /* Start all the standard demo application tasks. */
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        vStartIntegerMathTasks( tskIDLE_PRIORITY );
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        vStartLEDFlashTasks( mainLED_TASK_PRIORITY );
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        vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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        vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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        vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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        vStartDynamicPriorityTasks();
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        vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
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        /* Also start the USB demo which is just for the SAM7. */
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        xTaskCreate( vUSBDemoTask, "USB", configMINIMAL_STACK_SIZE, NULL, mainUSB_PRIORITY, NULL );
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        /* Start the check task - which is defined in this file. */
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        xTaskCreate( vErrorChecks, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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        /* Start the scheduler.
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        NOTE : Tasks run in system mode and the scheduler runs in Supervisor mode.
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        The processor MUST be in supervisor mode when vTaskStartScheduler is
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        called.  The demo applications included in the FreeRTOS.org download switch
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        to supervisor mode prior to main being called.  If you are not using one of
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        these demo application projects then ensure Supervisor mode is used here. */
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        vTaskStartScheduler();
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        /* We should never get here as control is now taken by the scheduler. */
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        return;
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}
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/*-----------------------------------------------------------*/
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static void prvSetupHardware( void )
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{
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        /* When using the JTAG debugger the hardware is not always initialised to
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        the correct default state.  This line just ensures that this does not
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        cause all interrupts to be masked at the start. */
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        AT91C_BASE_AIC->AIC_EOICR = 0;
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        /* Most setup is performed by the low level init function called from the
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        startup asm file. */
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        /* Configure the PIO Lines corresponding to LED1 to LED4 to be outputs as
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        well as the UART Tx line. */
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        AT91F_PIO_CfgOutput( AT91C_BASE_PIOA, LED_MASK );
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        /* Enable the peripheral clock. */
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        AT91F_PMC_EnablePeriphClock( AT91C_BASE_PMC, 1 << AT91C_ID_PIOA );
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}
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/*-----------------------------------------------------------*/
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static void vErrorChecks( void *pvParameters )
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{
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portTickType xDelayPeriod = mainNO_ERROR_FLASH_PERIOD;
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        /* The parameters are not used in this task. */
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        ( void ) pvParameters;
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        /* Cycle for ever, delaying then checking all the other tasks are still
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        operating without error.  If an error is detected then the delay period
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        is decreased from mainNO_ERROR_FLASH_PERIOD to mainERROR_FLASH_PERIOD so
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        the on board LED flash rate will increase. */
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        for( ;; )
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        {
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                /* Delay until it is time to execute again. */
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                vTaskDelay( xDelayPeriod );
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                /* Check all the standard demo application tasks are executing without
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                error. */
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                if( prvCheckOtherTasksAreStillRunning() != pdPASS )
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                {
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                        /* An error has been detected in one of the tasks - flash faster. */
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                        xDelayPeriod = mainERROR_FLASH_PERIOD;
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                }
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                vParTestToggleLED( mainCHECK_TASK_LED );
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        }
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}
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/*-----------------------------------------------------------*/
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static long prvCheckOtherTasksAreStillRunning( void )
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{
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long lReturn = ( long ) pdPASS;
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        /* Check all the demo tasks (other than the flash tasks) to ensure
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        that they are all still running, and that none of them have detected
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        an error. */
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        if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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        {
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                lReturn = ( long ) pdFAIL;
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        }
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        if( xArePollingQueuesStillRunning() != pdTRUE )
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        {
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                lReturn = ( long ) pdFAIL;
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        }
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        if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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        {
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                lReturn = ( long ) pdFAIL;
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        }
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        if( xAreBlockingQueuesStillRunning() != pdTRUE )
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        {
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                lReturn = ( long ) pdFAIL;
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        }
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        if( xAreComTestTasksStillRunning() != pdTRUE )
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        {
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                lReturn = ( long ) pdFAIL;
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        }
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        if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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        {
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                lReturn = ( long ) pdFAIL;
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        }
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        return lReturn;
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}
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/*-----------------------------------------------------------*/
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