2 FreeRTOS.org V4.5.0 - 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 * Creates six tasks that operate on three queues as follows:
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39 * The first two tasks send and receive an incrementing number to/from a queue.
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40 * One task acts as a producer and the other as the consumer. The consumer is a
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41 * higher priority than the producer and is set to block on queue reads. The queue
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42 * only has space for one item - as soon as the producer posts a message on the
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43 * queue the consumer will unblock, pre-empt the producer, and remove the item.
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45 * The second two tasks work the other way around. Again the queue used only has
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46 * enough space for one item. This time the consumer has a lower priority than the
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47 * producer. The producer will try to post on the queue blocking when the queue is
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48 * full. When the consumer wakes it will remove the item from the queue, causing
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49 * the producer to unblock, pre-empt the consumer, and immediately re-fill the
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52 * The last two tasks use the same queue producer and consumer functions. This time the queue has
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53 * enough space for lots of items and the tasks operate at the same priority. The
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54 * producer will execute, placing items into the queue. The consumer will start
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55 * executing when either the queue becomes full (causing the producer to block) or
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56 * a context switch occurs (tasks of the same priority will time slice).
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64 + The second set of tasks were created the wrong way around. This has been
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71 /* Scheduler include files. */
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72 #include "FreeRTOS.h"
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76 /* Demo program include files. */
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79 #define blckqSTACK_SIZE configMINIMAL_STACK_SIZE
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80 #define blckqNUM_TASK_SETS ( 3 )
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82 /* Structure used to pass parameters to the blocking queue tasks. */
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83 typedef struct BLOCKING_QUEUE_PARAMETERS
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85 xQueueHandle xQueue; /*< The queue to be used by the task. */
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86 portTickType xBlockTime; /*< The block time to use on queue reads/writes. */
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87 volatile portSHORT *psCheckVariable; /*< Incremented on each successful cycle to check the task is still running. */
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88 } xBlockingQueueParameters;
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90 /* Task function that creates an incrementing number and posts it on a queue. */
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91 static portTASK_FUNCTION_PROTO( vBlockingQueueProducer, pvParameters );
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93 /* Task function that removes the incrementing number from a queue and checks that
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94 it is the expected number. */
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95 static portTASK_FUNCTION_PROTO( vBlockingQueueConsumer, pvParameters );
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97 /* Variables which are incremented each time an item is removed from a queue, and
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98 found to be the expected value.
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99 These are used to check that the tasks are still running. */
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100 static volatile portSHORT sBlockingConsumerCount[ blckqNUM_TASK_SETS ] = { ( unsigned portSHORT ) 0, ( unsigned portSHORT ) 0, ( unsigned portSHORT ) 0 };
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102 /* Variable which are incremented each time an item is posted on a queue. These
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103 are used to check that the tasks are still running. */
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104 static volatile portSHORT sBlockingProducerCount[ blckqNUM_TASK_SETS ] = { ( unsigned portSHORT ) 0, ( unsigned portSHORT ) 0, ( unsigned portSHORT ) 0 };
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106 /*-----------------------------------------------------------*/
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108 void vStartBlockingQueueTasks( unsigned portBASE_TYPE uxPriority )
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110 xBlockingQueueParameters *pxQueueParameters1, *pxQueueParameters2;
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111 xBlockingQueueParameters *pxQueueParameters3, *pxQueueParameters4;
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112 xBlockingQueueParameters *pxQueueParameters5, *pxQueueParameters6;
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113 const unsigned portBASE_TYPE uxQueueSize1 = 1, uxQueueSize5 = 5;
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114 const portTickType xBlockTime = ( portTickType ) 1000 / portTICK_RATE_MS;
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115 const portTickType xDontBlock = ( portTickType ) 0;
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117 /* Create the first two tasks as described at the top of the file. */
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119 /* First create the structure used to pass parameters to the consumer tasks. */
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120 pxQueueParameters1 = ( xBlockingQueueParameters * ) pvPortMalloc( sizeof( xBlockingQueueParameters ) );
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122 /* Create the queue used by the first two tasks to pass the incrementing number.
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123 Pass a pointer to the queue in the parameter structure. */
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124 pxQueueParameters1->xQueue = xQueueCreate( uxQueueSize1, ( unsigned portBASE_TYPE ) sizeof( unsigned portSHORT ) );
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126 /* The consumer is created first so gets a block time as described above. */
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127 pxQueueParameters1->xBlockTime = xBlockTime;
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129 /* Pass in the variable that this task is going to increment so we can check it
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130 is still running. */
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131 pxQueueParameters1->psCheckVariable = &( sBlockingConsumerCount[ 0 ] );
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133 /* Create the structure used to pass parameters to the producer task. */
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134 pxQueueParameters2 = ( xBlockingQueueParameters * ) pvPortMalloc( sizeof( xBlockingQueueParameters ) );
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136 /* Pass the queue to this task also, using the parameter structure. */
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137 pxQueueParameters2->xQueue = pxQueueParameters1->xQueue;
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139 /* The producer is not going to block - as soon as it posts the consumer will
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140 wake and remove the item so the producer should always have room to post. */
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141 pxQueueParameters2->xBlockTime = xDontBlock;
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143 /* Pass in the variable that this task is going to increment so we can check
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144 it is still running. */
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145 pxQueueParameters2->psCheckVariable = &( sBlockingProducerCount[ 0 ] );
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148 /* Note the producer has a lower priority than the consumer when the tasks are
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150 xTaskCreate( vBlockingQueueConsumer, ( signed portCHAR * ) "QConsB1", blckqSTACK_SIZE, ( void * ) pxQueueParameters1, uxPriority, NULL );
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151 xTaskCreate( vBlockingQueueProducer, ( signed portCHAR * ) "QProdB2", blckqSTACK_SIZE, ( void * ) pxQueueParameters2, tskIDLE_PRIORITY, NULL );
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155 /* Create the second two tasks as described at the top of the file. This uses
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156 the same mechanism but reverses the task priorities. */
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158 pxQueueParameters3 = ( xBlockingQueueParameters * ) pvPortMalloc( sizeof( xBlockingQueueParameters ) );
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159 pxQueueParameters3->xQueue = xQueueCreate( uxQueueSize1, ( unsigned portBASE_TYPE ) sizeof( unsigned portSHORT ) );
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160 pxQueueParameters3->xBlockTime = xDontBlock;
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161 pxQueueParameters3->psCheckVariable = &( sBlockingProducerCount[ 1 ] );
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163 pxQueueParameters4 = ( xBlockingQueueParameters * ) pvPortMalloc( sizeof( xBlockingQueueParameters ) );
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164 pxQueueParameters4->xQueue = pxQueueParameters3->xQueue;
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165 pxQueueParameters4->xBlockTime = xBlockTime;
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166 pxQueueParameters4->psCheckVariable = &( sBlockingConsumerCount[ 1 ] );
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168 xTaskCreate( vBlockingQueueConsumer, ( signed portCHAR * ) "QProdB3", blckqSTACK_SIZE, ( void * ) pxQueueParameters3, tskIDLE_PRIORITY, NULL );
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169 xTaskCreate( vBlockingQueueProducer, ( signed portCHAR * ) "QConsB4", blckqSTACK_SIZE, ( void * ) pxQueueParameters4, uxPriority, NULL );
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173 /* Create the last two tasks as described above. The mechanism is again just
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174 the same. This time both parameter structures are given a block time. */
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175 pxQueueParameters5 = ( xBlockingQueueParameters * ) pvPortMalloc( sizeof( xBlockingQueueParameters ) );
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176 pxQueueParameters5->xQueue = xQueueCreate( uxQueueSize5, ( unsigned portBASE_TYPE ) sizeof( unsigned portSHORT ) );
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177 pxQueueParameters5->xBlockTime = xBlockTime;
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178 pxQueueParameters5->psCheckVariable = &( sBlockingProducerCount[ 2 ] );
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180 pxQueueParameters6 = ( xBlockingQueueParameters * ) pvPortMalloc( sizeof( xBlockingQueueParameters ) );
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181 pxQueueParameters6->xQueue = pxQueueParameters5->xQueue;
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182 pxQueueParameters6->xBlockTime = xBlockTime;
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183 pxQueueParameters6->psCheckVariable = &( sBlockingConsumerCount[ 2 ] );
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185 xTaskCreate( vBlockingQueueProducer, ( signed portCHAR * ) "QProdB5", blckqSTACK_SIZE, ( void * ) pxQueueParameters5, tskIDLE_PRIORITY, NULL );
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186 xTaskCreate( vBlockingQueueConsumer, ( signed portCHAR * ) "QConsB6", blckqSTACK_SIZE, ( void * ) pxQueueParameters6, tskIDLE_PRIORITY, NULL );
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188 /*-----------------------------------------------------------*/
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190 static portTASK_FUNCTION( vBlockingQueueProducer, pvParameters )
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192 unsigned portSHORT usValue = 0;
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193 xBlockingQueueParameters *pxQueueParameters;
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194 portSHORT sErrorEverOccurred = pdFALSE;
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196 pxQueueParameters = ( xBlockingQueueParameters * ) pvParameters;
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200 if( xQueueSend( pxQueueParameters->xQueue, ( void * ) &usValue, pxQueueParameters->xBlockTime ) != pdPASS )
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202 sErrorEverOccurred = pdTRUE;
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206 /* We have successfully posted a message, so increment the variable
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207 used to check we are still running. */
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208 if( sErrorEverOccurred == pdFALSE )
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210 ( *pxQueueParameters->psCheckVariable )++;
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213 /* Increment the variable we are going to post next time round. The
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214 consumer will expect the numbers to follow in numerical order. */
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219 /*-----------------------------------------------------------*/
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221 static portTASK_FUNCTION( vBlockingQueueConsumer, pvParameters )
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223 unsigned portSHORT usData, usExpectedValue = 0;
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224 xBlockingQueueParameters *pxQueueParameters;
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225 portSHORT sErrorEverOccurred = pdFALSE;
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227 pxQueueParameters = ( xBlockingQueueParameters * ) pvParameters;
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231 if( xQueueReceive( pxQueueParameters->xQueue, &usData, pxQueueParameters->xBlockTime ) == pdPASS )
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233 if( usData != usExpectedValue )
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236 usExpectedValue = usData;
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238 sErrorEverOccurred = pdTRUE;
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242 /* We have successfully received a message, so increment the
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243 variable used to check we are still running. */
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244 if( sErrorEverOccurred == pdFALSE )
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246 ( *pxQueueParameters->psCheckVariable )++;
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249 /* Increment the value we expect to remove from the queue next time
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256 /*-----------------------------------------------------------*/
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258 /* This is called to check that all the created tasks are still running. */
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259 portBASE_TYPE xAreBlockingQueuesStillRunning( void )
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261 static portSHORT sLastBlockingConsumerCount[ blckqNUM_TASK_SETS ] = { ( unsigned portSHORT ) 0, ( unsigned portSHORT ) 0, ( unsigned portSHORT ) 0 };
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262 static portSHORT sLastBlockingProducerCount[ blckqNUM_TASK_SETS ] = { ( unsigned portSHORT ) 0, ( unsigned portSHORT ) 0, ( unsigned portSHORT ) 0 };
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263 portBASE_TYPE xReturn = pdPASS, xTasks;
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265 /* Not too worried about mutual exclusion on these variables as they are 16
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266 bits and we are only reading them. We also only care to see if they have
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269 Loop through each check variable to and return pdFALSE if any are found not
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270 to have changed since the last call. */
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272 for( xTasks = 0; xTasks < blckqNUM_TASK_SETS; xTasks++ )
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274 if( sBlockingConsumerCount[ xTasks ] == sLastBlockingConsumerCount[ xTasks ] )
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278 sLastBlockingConsumerCount[ xTasks ] = sBlockingConsumerCount[ xTasks ];
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281 if( sBlockingProducerCount[ xTasks ] == sLastBlockingProducerCount[ xTasks ] )
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285 sLastBlockingProducerCount[ xTasks ] = sBlockingProducerCount[ xTasks ];
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