2 FreeRTOS.org V4.3.0 - Copyright (C) 2003-2007 Richard Barry.
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4 This file is part of the FreeRTOS.org distribution.
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6 FreeRTOS.org is free software; you can redistribute it and/or modify
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7 it under the terms of the GNU General Public License as published by
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8 the Free Software Foundation; either version 2 of the License, or
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9 (at your option) any later version.
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11 FreeRTOS.org is distributed in the hope that it will be useful,
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12 but WITHOUT ANY WARRANTY; without even the implied warranty of
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13 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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14 GNU General Public License for more details.
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16 You should have received a copy of the GNU General Public License
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17 along with FreeRTOS.org; if not, write to the Free Software
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18 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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20 A special exception to the GPL can be applied should you wish to distribute
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21 a combined work that includes FreeRTOS.org, without being obliged to provide
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22 the source code for any proprietary components. See the licensing section
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23 of http://www.FreeRTOS.org for full details of how and when the exception
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26 ***************************************************************************
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27 See http://www.FreeRTOS.org for documentation, latest information, license
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28 and contact details. Please ensure to read the configuration and relevant
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29 port sections of the online documentation.
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31 Also see http://www.SafeRTOS.com for an IEC 61508 compliant version along
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32 with commercial development and support options.
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33 ***************************************************************************
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37 * The comms test Rx and Tx task and co-routine. See the comments at the top
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38 * of main.c for full information.
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42 /* Scheduler include files. */
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43 #include "FreeRTOS.h"
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46 #include "croutine.h"
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48 /* Demo application include files. */
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49 #include "partest.h"
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51 /* Library include files. */
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52 #include "DriverLib.h"
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54 /* The LED's toggled by the various tasks. */
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55 #define commsFAIL_LED ( 7 )
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56 #define commsRX_LED ( 6 )
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57 #define commsTX_LED ( 5 )
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59 /* The length of the queue used to pass received characters to the Comms Rx
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61 #define commsRX_QUEUE_LEN ( 5 )
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63 /* The baud rate used by the UART comms tasks/co-routine. */
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64 #define commsBAUD_RATE ( 57600 )
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66 /* FIFO setting for the UART. The FIFO is not used to create a better test. */
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67 #define commsFIFO_SET ( 0x10 )
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69 /* The string that is transmitted on the UART contains sequentially the
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70 characters from commsFIRST_TX_CHAR to commsLAST_TX_CHAR. */
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71 #define commsFIRST_TX_CHAR '0'
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72 #define commsLAST_TX_CHAR 'z'
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74 /* Just used to walk through the program memory in order that some random data
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75 can be generated. */
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76 #define commsTOTAL_PROGRAM_MEMORY ( ( unsigned portLONG * ) ( 8 * 1024 ) )
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77 #define commsFIRST_PROGRAM_BYTES ( ( unsigned portLONG * ) 4 )
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79 /* The time between transmissions of the string on UART 0. This is pseudo
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80 random in order to generate a bit or randomness to when the interrupts occur.*/
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81 #define commsMIN_TX_DELAY ( 40 / portTICK_RATE_MS )
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82 #define commsMAX_TX_DELAY ( ( portTickType ) 0x7f )
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83 #define commsOFFSET_TIME ( ( portTickType ) 3 )
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85 /* The time the Comms Rx task should wait to receive a character. This should
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86 be slightly longer than the time between transmissions. If we do not receive
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87 a character after this time then there must be an error in the transmission or
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88 the timing of the transmission. */
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89 #define commsRX_DELAY ( commsMAX_TX_DELAY + 20 )
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92 static unsigned portBASE_TYPE uxCommsErrorStatus = pdPASS;
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94 /* The queue used to pass characters out of the ISR. */
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95 static xQueueHandle xCommsQueue;
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97 /* The next character to transmit. */
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98 static portCHAR cNextChar;
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100 /*-----------------------------------------------------------*/
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102 void vSerialInit( void )
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104 /* Create the queue used to communicate between the UART ISR and the Comms
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106 xCommsQueue = xQueueCreate( commsRX_QUEUE_LEN, sizeof( portCHAR ) );
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108 /* Enable the UART. GPIOA has already been initialised. */
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109 SysCtlPeripheralEnable(SYSCTL_PERIPH_UART0);
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111 /* Set GPIO A0 and A1 as peripheral function. They are used to output the
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113 GPIODirModeSet( GPIO_PORTA_BASE, GPIO_PIN_0 | GPIO_PIN_1, GPIO_DIR_MODE_HW );
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115 /* Configure the UART for 8-N-1 operation. */
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116 UARTConfigSet( UART0_BASE, commsBAUD_RATE, UART_CONFIG_WLEN_8 | UART_CONFIG_PAR_NONE | UART_CONFIG_STOP_ONE );
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118 /* We dont want to use the fifo. This is for test purposes to generate
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119 as many interrupts as possible. */
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120 HWREG( UART0_BASE + UART_O_LCR_H ) &= ~commsFIFO_SET;
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122 /* Enable both Rx and Tx interrupts. */
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123 HWREG( UART0_BASE + UART_O_IM ) |= ( UART_INT_TX | UART_INT_RX );
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124 IntEnable( INT_UART0 );
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126 /*-----------------------------------------------------------*/
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128 void vSerialTxCoRoutine( xCoRoutineHandle xHandle, unsigned portBASE_TYPE uxIndex )
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130 portTickType xDelayPeriod;
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131 static unsigned portLONG *pulRandomBytes = commsFIRST_PROGRAM_BYTES;
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133 /* Co-routine MUST start with a call to crSTART. */
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134 crSTART( xHandle );
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138 /* Was the previously transmitted string received correctly? */
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139 if( uxCommsErrorStatus != pdPASS )
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141 /* An error was encountered so set the error LED. */
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142 vParTestSetLED( commsFAIL_LED, pdTRUE );
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145 /* The next character to Tx is the first in the string. */
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146 cNextChar = commsFIRST_TX_CHAR;
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148 UARTIntDisable( UART0_BASE, UART_INT_TX );
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150 /* Send the first character. */
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151 if( !( HWREG( UART0_BASE + UART_O_FR ) & UART_FR_TXFF ) )
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153 HWREG( UART0_BASE + UART_O_DR ) = cNextChar;
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156 /* Move the variable to the char to Tx on so the ISR transmits
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157 the next character in the string once this one has completed. */
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160 UARTIntEnable(UART0_BASE, UART_INT_TX);
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162 /* Toggle the LED to show a new string is being transmitted. */
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163 vParTestToggleLED( commsTX_LED );
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165 /* Delay before we start the string off again. A pseudo-random delay
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166 is used as this will provide a better test. */
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167 xDelayPeriod = xTaskGetTickCount() + ( *pulRandomBytes );
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170 if( pulRandomBytes > commsTOTAL_PROGRAM_MEMORY )
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172 pulRandomBytes = commsFIRST_PROGRAM_BYTES;
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175 /* Make sure we don't wait too long... */
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176 xDelayPeriod &= commsMAX_TX_DELAY;
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178 /* ...but we do want to wait. */
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179 if( xDelayPeriod < commsMIN_TX_DELAY )
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181 xDelayPeriod = commsMIN_TX_DELAY;
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184 /* Block for the random(ish) time. */
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185 crDELAY( xHandle, xDelayPeriod );
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188 /* Co-routine MUST end with a call to crEND. */
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191 /*-----------------------------------------------------------*/
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193 void vUART_ISR( void )
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195 unsigned portLONG ulStatus;
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196 portCHAR cRxedChar;
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197 portBASE_TYPE xTaskWokenByPost = pdFALSE;
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199 /* What caused the interrupt. */
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200 ulStatus = UARTIntStatus( UART0_BASE, pdTRUE );
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202 /* Clear the interrupt. */
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203 UARTIntClear( UART0_BASE, ulStatus );
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205 /* Was an Rx interrpt pending? */
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206 if( ulStatus & UART_INT_RX )
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208 if( ( HWREG(UART0_BASE + UART_O_FR ) & UART_FR_RXFF ) )
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210 /* Get the char from the buffer and post it onto the queue of
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211 Rxed chars. Posting the character should wake the task that is
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212 blocked on the queue waiting for characters. */
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213 cRxedChar = ( portCHAR ) HWREG( UART0_BASE + UART_O_DR );
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214 xTaskWokenByPost = xQueueSendFromISR( xCommsQueue, &cRxedChar, xTaskWokenByPost );
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218 /* Was a Tx interrupt pending? */
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219 if( ulStatus & UART_INT_TX )
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221 /* Send the next character in the string. We are not using the FIFO. */
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222 if( cNextChar <= commsLAST_TX_CHAR )
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224 if( !( HWREG( UART0_BASE + UART_O_FR ) & UART_FR_TXFF ) )
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226 HWREG( UART0_BASE + UART_O_DR ) = cNextChar;
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232 if( xTaskWokenByPost )
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234 /* If a task was woken by the character being received then we force
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235 a context switch to occur in case the task is of higher priority than
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236 the currently executing task (i.e. the task that this interrupt
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238 portEND_SWITCHING_ISR( xTaskWokenByPost );
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241 /*-----------------------------------------------------------*/
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243 void vCommsRxTask( void * pvParameters )
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245 static portCHAR cRxedChar, cExpectedChar;
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247 /* Set the char we expect to receive to the start of the string. */
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248 cExpectedChar = commsFIRST_TX_CHAR;
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252 /* Wait for a character to be received. */
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253 xQueueReceive( xCommsQueue, ( void * ) &cRxedChar, commsRX_DELAY );
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255 /* Was the character recived (if any) the expected character. */
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256 if( cRxedChar != cExpectedChar )
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258 /* Got an unexpected character. This can sometimes occur when
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259 reseting the system using the debugger leaving characters already
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260 in the UART regsters. */
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261 uxCommsErrorStatus = pdFAIL;
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263 /* Resync by waiting for the end of the current string. */
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264 while( cRxedChar != commsLAST_TX_CHAR )
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266 while( !xQueueReceive( xCommsQueue, ( void * ) &cRxedChar, portMAX_DELAY ) );
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269 /* The next expected character is the start of the string again. */
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270 cExpectedChar = commsFIRST_TX_CHAR;
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274 if( cExpectedChar == commsLAST_TX_CHAR )
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276 /* We have reached the end of the string - we now expect to
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277 receive the first character in the string again. The LED is
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278 toggled to indicate that the entire string was received without
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280 vParTestToggleLED( commsRX_LED );
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281 cExpectedChar = commsFIRST_TX_CHAR;
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285 /* We got the expected character, we now expect to receive the
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286 next character in the string. */
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292 /*-----------------------------------------------------------*/
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294 unsigned portBASE_TYPE uxGetCommsStatus( void )
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296 return uxCommsErrorStatus;
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