2 FreeRTOS.org V4.3.1 - 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 all the demo application tasks, then starts the scheduler. The WEB
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38 * documentation provides more details of the standard demo application tasks.
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39 * In addition to the standard demo tasks, the following tasks and tests are
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40 * defined and/or created within this file:
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42 * "Fast Interrupt Test" - A high frequency periodic interrupt is generated
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43 * using a free running timer to demonstrate the use of the
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44 * configKERNEL_INTERRUPT_PRIORITY configuration constant. The interrupt
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45 * service routine measures the number of processor clocks that occur between
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46 * each interrupt - and in so doing measures the jitter in the interrupt
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47 * timing. The maximum measured jitter time is latched in the usMaxJitter
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48 * variable, and displayed on the LCD by the 'Check' as described below.
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49 * The fast interrupt is configured and handled in the timer_test.c source
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52 * "LCD" task - the LCD task is a 'gatekeeper' task. It is the only task that
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53 * is permitted to access the LCD directly. Other tasks wishing to write a
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54 * message to the LCD send the message on a queue to the LCD task instead of
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55 * accessing the LCD themselves. The LCD task just blocks on the queue waiting
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56 * for messages - waking and displaying the messages as they arrive. The LCD
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57 * task is defined in lcd.c.
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59 * "Check" task - This only executes every three seconds but has the highest
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60 * priority so is guaranteed to get processor time. Its main function is to
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61 * check that all the standard demo tasks are still operational. Should any
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62 * unexpected behaviour within a demo task be discovered the 'check' task will
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63 * write "FAIL #n" to the LCD (via the LCD task). If all the demo tasks are
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64 * executing with their expected behaviour then the check task writes the max
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65 * jitter time to the LCD (again via the LCD task), as described above.
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68 /* Standard includes. */
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71 /* Scheduler includes. */
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72 #include "FreeRTOS.h"
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75 #include "croutine.h"
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77 /* Demo application includes. */
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79 #include "crflash.h"
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80 #include "blocktim.h"
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81 #include "integer.h"
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82 #include "comtest2.h"
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83 #include "partest.h"
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85 #include "timertest.h"
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87 /* Demo task priorities. */
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88 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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89 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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90 #define mainCOM_TEST_PRIORITY ( 2 )
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92 /* The check task may require a bit more stack as it calls sprintf(). */
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93 #define mainCHECK_TAKS_STACK_SIZE ( configMINIMAL_STACK_SIZE * 2 )
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95 /* The execution period of the check task. */
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96 #define mainCHECK_TASK_PERIOD ( ( portTickType ) 3000 / portTICK_RATE_MS )
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98 /* The number of flash co-routines to create. */
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99 #define mainNUM_FLASH_COROUTINES ( 5 )
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101 /* Baud rate used by the comtest tasks. */
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102 #define mainCOM_TEST_BAUD_RATE ( 19200 )
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104 /* The LED used by the comtest tasks. mainCOM_TEST_LED + 1 is also used.
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105 See the comtest.c file for more information. */
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106 #define mainCOM_TEST_LED ( 6 )
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108 /* The frequency at which the "fast interrupt test" interrupt will occur. */
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109 #define mainTEST_INTERRUPT_FREQUENCY ( 20000 )
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111 /* The number of processor clocks we expect to occur between each "fast
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112 interrupt test" interrupt. */
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113 #define mainEXPECTED_CLOCKS_BETWEEN_INTERRUPTS ( configCPU_CLOCK_HZ / mainTEST_INTERRUPT_FREQUENCY )
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115 /* The number of nano seconds between each processor clock. */
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116 #define mainNS_PER_CLOCK ( ( unsigned portSHORT ) ( ( 1.0 / ( double ) configCPU_CLOCK_HZ ) * 1000000000.0 ) )
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118 /* Dimension the buffer used to hold the value of the maximum jitter time when
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119 it is converted to a string. */
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120 #define mainMAX_STRING_LENGTH ( 20 )
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122 /*-----------------------------------------------------------*/
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125 * The check task as described at the top of this file.
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127 static void vCheckTask( void *pvParameters );
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130 * Setup the processor ready for the demo.
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132 static void prvSetupHardware( void );
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134 /*-----------------------------------------------------------*/
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136 /* The queue used to send messages to the LCD task. */
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137 static xQueueHandle xLCDQueue;
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139 /*-----------------------------------------------------------*/
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142 * Create the demo tasks then start the scheduler.
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146 /* Configure any hardware required for this demo. */
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147 prvSetupHardware();
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149 /* Create the standard demo tasks. */
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150 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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151 vStartIntegerMathTasks( tskIDLE_PRIORITY );
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152 vStartFlashCoRoutines( mainNUM_FLASH_COROUTINES );
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153 vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
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154 vCreateBlockTimeTasks();
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156 /* Create the test tasks defined within this file. */
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157 xTaskCreate( vCheckTask, ( signed portCHAR * ) "Check", mainCHECK_TAKS_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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159 /* Start the task that will control the LCD. This returns the handle
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160 to the queue used to write text out to the task. */
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161 xLCDQueue = xStartLCDTask();
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163 /* Start the high frequency interrupt test. */
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164 vSetupTimerTest( mainTEST_INTERRUPT_FREQUENCY );
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166 /* Finally start the scheduler. */
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167 vTaskStartScheduler();
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169 /* Will only reach here if there is insufficient heap available to start
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173 /*-----------------------------------------------------------*/
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175 static void prvSetupHardware( void )
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177 vParTestInitialise();
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179 /*-----------------------------------------------------------*/
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181 static void vCheckTask( void *pvParameters )
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183 /* Used to wake the task at the correct frequency. */
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184 portTickType xLastExecutionTime;
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186 /* The maximum jitter time measured by the fast interrupt test. */
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187 extern unsigned portSHORT usMaxJitter ;
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189 /* Buffer into which the maximum jitter time is written as a string. */
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190 static portCHAR cStringBuffer[ mainMAX_STRING_LENGTH ];
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192 /* The message that is sent on the queue to the LCD task. The first
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193 parameter is the minimum time (in ticks) that the message should be
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194 left on the LCD without being overwritten. The second parameter is a pointer
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195 to the message to display itself. */
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196 xLCDMessage xMessage = { 0, cStringBuffer };
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198 /* Set to pdTRUE should an error be detected in any of the standard demo tasks. */
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199 unsigned portSHORT usErrorDetected = pdFALSE;
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201 /* Initialise xLastExecutionTime so the first call to vTaskDelayUntil()
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202 works correctly. */
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203 xLastExecutionTime = xTaskGetTickCount();
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207 /* Wait until it is time for the next cycle. */
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208 vTaskDelayUntil( &xLastExecutionTime, mainCHECK_TASK_PERIOD );
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210 /* Has an error been found in any of the standard demo tasks? */
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212 if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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214 usErrorDetected = pdTRUE;
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215 sprintf( cStringBuffer, "FAIL #1" );
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218 if( xAreComTestTasksStillRunning() != pdTRUE )
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220 usErrorDetected = pdTRUE;
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221 sprintf( cStringBuffer, "FAIL #2" );
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224 if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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226 usErrorDetected = pdTRUE;
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227 sprintf( cStringBuffer, "FAIL #3" );
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230 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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232 usErrorDetected = pdTRUE;
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233 sprintf( cStringBuffer, "FAIL #4" );
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236 if( usErrorDetected == pdFALSE )
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238 /* No errors have been discovered, so display the maximum jitter
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239 timer discovered by the "fast interrupt test". */
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240 sprintf( cStringBuffer, "%dns max jitter", ( portSHORT ) ( usMaxJitter - mainEXPECTED_CLOCKS_BETWEEN_INTERRUPTS ) * mainNS_PER_CLOCK );
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243 /* Send the message to the LCD gatekeeper for display. */
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244 xQueueSend( xLCDQueue, &xMessage, portMAX_DELAY );
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247 /*-----------------------------------------------------------*/
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249 void vApplicationIdleHook( void )
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251 /* Schedule the co-routines from within the idle task hook. */
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252 vCoRoutineSchedule();
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254 /*-----------------------------------------------------------*/
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