2 FreeRTOS V7.4.1 - Copyright (C) 2013 Real Time Engineers Ltd.
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4 FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME. PLEASE VISIT
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5 http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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7 ***************************************************************************
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9 * FreeRTOS tutorial books are available in pdf and paperback. *
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10 * Complete, revised, and edited pdf reference manuals are also *
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13 * Purchasing FreeRTOS documentation will not only help you, by *
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14 * ensuring you get running as quickly as possible and with an *
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15 * in-depth knowledge of how to use FreeRTOS, it will also help *
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16 * the FreeRTOS project to continue with its mission of providing *
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17 * professional grade, cross platform, de facto standard solutions *
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18 * for microcontrollers - completely free of charge! *
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20 * >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
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22 * Thank you for using FreeRTOS, and thank you for your support! *
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24 ***************************************************************************
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27 This file is part of the FreeRTOS distribution.
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29 FreeRTOS is free software; you can redistribute it and/or modify it under
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30 the terms of the GNU General Public License (version 2) as published by the
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31 Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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33 >>>>>>NOTE<<<<<< The modification to the GPL is included to allow you to
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34 distribute a combined work that includes FreeRTOS without being obliged to
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35 provide the source code for proprietary components outside of the FreeRTOS
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38 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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39 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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40 FOR A PARTICULAR PURPOSE. See the GNU General Public License for more
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41 details. You should have received a copy of the GNU General Public License
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42 and the FreeRTOS license exception along with FreeRTOS; if not it can be
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43 viewed here: http://www.freertos.org/a00114.html and also obtained by
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44 writing to Real Time Engineers Ltd., contact details for whom are available
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45 on the FreeRTOS WEB site.
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49 ***************************************************************************
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51 * Having a problem? Start by reading the FAQ "My application does *
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52 * not run, what could be wrong?" *
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54 * http://www.FreeRTOS.org/FAQHelp.html *
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56 ***************************************************************************
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59 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
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60 license and Real Time Engineers Ltd. contact details.
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62 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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63 including FreeRTOS+Trace - an indispensable productivity tool, and our new
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64 fully thread aware and reentrant UDP/IP stack.
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66 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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67 Integrity Systems, who sell the code with commercial support,
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68 indemnification and middleware, under the OpenRTOS brand.
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70 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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71 engineered and independently SIL3 certified version for use in safety and
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72 mission critical applications that require provable dependability.
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76 NOTE : Tasks run in System mode and the scheduler runs in Supervisor mode.
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77 The processor MUST be in supervisor mode when vTaskStartScheduler is
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78 called. The demo applications included in the FreeRTOS.org download switch
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79 to supervisor mode prior to main being called. If you are not using one of
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80 these demo application projects then ensure Supervisor mode is used.
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84 * This demo includes a (basic) USB mouse driver and a WEB server. It is
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85 * targeted for the AT91SAM7X EK prototyping board which includes a small
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86 * joystick to provide the mouse inputs. The WEB interface provides some basic
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87 * interactivity through the use of a check box to turn on and off an LED.
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89 * main() creates the WEB server, USB, and a set of the standard demo tasks
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90 * before starting the scheduler. See the online FreeRTOS.org documentation
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91 * for more information on the standard demo tasks.
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93 * LEDs D1 to D3 are controlled by the standard 'flash' tasks - each will
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94 * toggle at a different fixed frequency.
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96 * A tick hook function is used to monitor the standard demo tasks - with LED
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97 * D4 being used to indicate the system status. D4 toggling every 5 seconds
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98 * indicates that all the standard demo tasks are executing without error. The
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99 * toggle rate increasing to 500ms is indicative of an error having been found
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100 * in at least one demo task.
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102 * See the online documentation page that accompanies this demo for full setup
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103 * and usage information.
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106 /* Standard includes. */
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107 #include <stdlib.h>
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109 /* Scheduler includes. */
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110 #include "FreeRTOS.h"
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113 /* Demo application includes. */
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114 #include "partest.h"
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115 #include "USBSample.h"
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116 #include "uIP_Task.h"
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117 #include "BlockQ.h"
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118 #include "blocktim.h"
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121 #include "dynamic.h"
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123 /* Priorities for the demo application tasks. */
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124 #define mainUIP_PRIORITY ( tskIDLE_PRIORITY + 2 )
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125 #define mainUSB_PRIORITY ( tskIDLE_PRIORITY + 2 )
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126 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 1 )
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127 #define mainFLASH_PRIORITY ( tskIDLE_PRIORITY + 2 )
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128 #define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )
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130 /* The task allocated to the uIP task is large to account for its use of the
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131 sprintf() library function. Use of a cut down printf() library would allow
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132 the stack usage to be greatly reduced. */
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133 #define mainUIP_TASK_STACK_SIZE ( configMINIMAL_STACK_SIZE * 6 )
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135 /* The LED toggle by the tick hook should an error have been found in a task. */
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136 #define mainERROR_LED ( 3 )
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138 /*-----------------------------------------------------------*/
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141 * Configure the processor for use with the Atmel demo board. Setup is minimal
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142 * as the low level init function (called from the startup asm file) takes care
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145 static void prvSetupHardware( void );
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147 /*-----------------------------------------------------------*/
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150 * Starts all the other tasks, then starts the scheduler.
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154 /* Setup any hardware that has not already been configured by the low
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155 level init routines. */
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156 prvSetupHardware();
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158 /* Start the task that handles the TCP/IP and WEB server functionality. */
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159 xTaskCreate( vuIP_Task, "uIP", mainUIP_TASK_STACK_SIZE, NULL, mainUIP_PRIORITY, NULL );
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161 /* Also start the USB demo which is just for the SAM7. */
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162 vStartUSBTask( mainUSB_PRIORITY );
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164 /* Start the standard demo tasks. */
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165 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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166 vCreateBlockTimeTasks();
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167 vStartLEDFlashTasks( mainFLASH_PRIORITY );
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168 vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
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169 vStartQueuePeekTasks();
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170 vStartDynamicPriorityTasks();
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172 /* Start the scheduler.
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174 NOTE : Tasks run in system mode and the scheduler runs in Supervisor mode.
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175 The processor MUST be in supervisor mode when vTaskStartScheduler is
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176 called. The demo applications included in the FreeRTOS.org download switch
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177 to supervisor mode prior to main being called. If you are not using one of
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178 these demo application projects then ensure Supervisor mode is used here. */
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180 vTaskStartScheduler();
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182 /* We should never get here as control is now taken by the scheduler. */
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185 /*-----------------------------------------------------------*/
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187 static void prvSetupHardware( void )
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189 portDISABLE_INTERRUPTS();
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191 /* When using the JTAG debugger the hardware is not always initialised to
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192 the correct default state. This line just ensures that this does not
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193 cause all interrupts to be masked at the start. */
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194 AT91C_BASE_AIC->AIC_EOICR = 0;
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196 /* Most setup is performed by the low level init function called from the
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197 startup asm file. */
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199 /* Enable the peripheral clock. */
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200 AT91C_BASE_PMC->PMC_PCER = 1 << AT91C_ID_PIOA;
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201 AT91C_BASE_PMC->PMC_PCER = 1 << AT91C_ID_PIOB;
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202 AT91C_BASE_PMC->PMC_PCER = 1 << AT91C_ID_EMAC;
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204 /* Initialise the LED outputs for use by the demo application tasks. */
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205 vParTestInitialise();
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207 /*-----------------------------------------------------------*/
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209 void vApplicationTickHook( void )
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211 static unsigned long ulCallCount = 0, ulErrorFound = pdFALSE;
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213 /* The rate at which LED D4 will toggle if an error has been found in one or
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214 more of the standard demo tasks. */
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215 const unsigned long ulErrorFlashRate = 500 / portTICK_RATE_MS;
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217 /* The rate at which LED D4 will toggle if no errors have been found in any
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218 of the standard demo tasks. */
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219 const unsigned long ulNoErrorCheckRate = 5000 / portTICK_RATE_MS;
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223 if( ulErrorFound != pdFALSE )
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225 /* We have already found an error, so flash the LED with the appropriate
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227 if( ulCallCount > ulErrorFlashRate )
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230 vParTestToggleLED( mainERROR_LED );
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235 if( ulCallCount > ulNoErrorCheckRate )
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239 /* We have not yet found an error. Check all the demo tasks to ensure
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240 this is still the case. */
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242 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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244 ulErrorFound |= 0x01;
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247 if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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249 ulErrorFound |= 0x02;
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252 if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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254 ulErrorFound |= 0x04;
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257 if( xAreGenericQueueTasksStillRunning() != pdTRUE )
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259 ulErrorFound |= 0x08;
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262 if( xAreQueuePeekTasksStillRunning() != pdTRUE )
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264 ulErrorFound |= 0x10;
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267 vParTestToggleLED( mainERROR_LED );
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