2 FreeRTOS V8.2.0 - Copyright (C) 2015 Real Time Engineers Ltd.
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5 VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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7 This file is part of the FreeRTOS distribution.
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9 FreeRTOS is free software; you can redistribute it and/or modify it under
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10 the terms of the GNU General Public License (version 2) as published by the
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11 Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
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13 ***************************************************************************
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14 >>! NOTE: The modification to the GPL is included to allow you to !<<
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15 >>! distribute a combined work that includes FreeRTOS without being !<<
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16 >>! obliged to provide the source code for proprietary components !<<
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17 >>! outside of the FreeRTOS kernel. !<<
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18 ***************************************************************************
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20 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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21 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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22 FOR A PARTICULAR PURPOSE. Full license text is available on the following
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23 link: http://www.freertos.org/a00114.html
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25 ***************************************************************************
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27 * FreeRTOS provides completely free yet professionally developed, *
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28 * robust, strictly quality controlled, supported, and cross *
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29 * platform software that is more than just the market leader, it *
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30 * is the industry's de facto standard. *
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32 * Help yourself get started quickly while simultaneously helping *
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33 * to support the FreeRTOS project by purchasing a FreeRTOS *
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34 * tutorial book, reference manual, or both: *
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35 * http://www.FreeRTOS.org/Documentation *
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37 ***************************************************************************
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39 http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
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40 the FAQ page "My application does not run, what could be wrong?". Have you
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41 defined configASSERT()?
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43 http://www.FreeRTOS.org/support - In return for receiving this top quality
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44 embedded software for free we request you assist our global community by
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45 participating in the support forum.
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47 http://www.FreeRTOS.org/training - Investing in training allows your team to
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48 be as productive as possible as early as possible. Now you can receive
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49 FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
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50 Ltd, and the world's leading authority on the world's leading RTOS.
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52 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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53 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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54 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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56 http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
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57 Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
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59 http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
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60 Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
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61 licenses offer ticketed support, indemnification and commercial middleware.
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63 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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64 engineered and independently SIL3 certified version for use in safety and
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65 mission critical applications that require provable dependability.
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71 * Creates six tasks that operate on three queues as follows:
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73 * The first two tasks send and receive an incrementing number to/from a queue.
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74 * One task acts as a producer and the other as the consumer. The consumer is a
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75 * higher priority than the producer and is set to block on queue reads. The queue
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76 * only has space for one item - as soon as the producer posts a message on the
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77 * queue the consumer will unblock, pre-empt the producer, and remove the item.
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79 * The second two tasks work the other way around. Again the queue used only has
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80 * enough space for one item. This time the consumer has a lower priority than the
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81 * producer. The producer will try to post on the queue blocking when the queue is
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82 * full. When the consumer wakes it will remove the item from the queue, causing
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83 * the producer to unblock, pre-empt the consumer, and immediately re-fill the
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86 * The last two tasks use the same queue producer and consumer functions. This time the queue has
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87 * enough space for lots of items and the tasks operate at the same priority. The
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88 * producer will execute, placing items into the queue. The consumer will start
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89 * executing when either the queue becomes full (causing the producer to block) or
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90 * a context switch occurs (tasks of the same priority will time slice).
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96 /* Scheduler include files. */
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97 #include "FreeRTOS.h"
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101 /* Demo program include files. */
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102 #include "BlockQ.h"
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104 #define blckqSTACK_SIZE configMINIMAL_STACK_SIZE
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105 #define blckqNUM_TASK_SETS ( 3 )
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107 /* Structure used to pass parameters to the blocking queue tasks. */
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108 typedef struct BLOCKING_QUEUE_PARAMETERS
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110 QueueHandle_t xQueue; /*< The queue to be used by the task. */
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111 TickType_t xBlockTime; /*< The block time to use on queue reads/writes. */
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112 volatile short *psCheckVariable; /*< Incremented on each successful cycle to check the task is still running. */
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113 } xBlockingQueueParameters;
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115 /* Task function that creates an incrementing number and posts it on a queue. */
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116 static portTASK_FUNCTION_PROTO( vBlockingQueueProducer, pvParameters );
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118 /* Task function that removes the incrementing number from a queue and checks that
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119 it is the expected number. */
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120 static portTASK_FUNCTION_PROTO( vBlockingQueueConsumer, pvParameters );
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122 /* Variables which are incremented each time an item is removed from a queue, and
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123 found to be the expected value.
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124 These are used to check that the tasks are still running. */
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125 static volatile short sBlockingConsumerCount[ blckqNUM_TASK_SETS ] = { ( uint16_t ) 0, ( uint16_t ) 0, ( uint16_t ) 0 };
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127 /* Variable which are incremented each time an item is posted on a queue. These
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128 are used to check that the tasks are still running. */
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129 static volatile short sBlockingProducerCount[ blckqNUM_TASK_SETS ] = { ( uint16_t ) 0, ( uint16_t ) 0, ( uint16_t ) 0 };
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131 /*-----------------------------------------------------------*/
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133 void vStartBlockingQueueTasks( UBaseType_t uxPriority )
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135 xBlockingQueueParameters *pxQueueParameters1, *pxQueueParameters2;
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136 xBlockingQueueParameters *pxQueueParameters3, *pxQueueParameters4;
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137 xBlockingQueueParameters *pxQueueParameters5, *pxQueueParameters6;
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138 const UBaseType_t uxQueueSize1 = 1, uxQueueSize5 = 5;
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139 const TickType_t xBlockTime = ( TickType_t ) 1000 / portTICK_PERIOD_MS;
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140 const TickType_t xDontBlock = ( TickType_t ) 0;
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142 /* Create the first two tasks as described at the top of the file. */
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144 /* First create the structure used to pass parameters to the consumer tasks. */
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145 pxQueueParameters1 = ( xBlockingQueueParameters * ) pvPortMalloc( sizeof( xBlockingQueueParameters ) );
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147 /* Create the queue used by the first two tasks to pass the incrementing number.
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148 Pass a pointer to the queue in the parameter structure. */
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149 pxQueueParameters1->xQueue = xQueueCreate( uxQueueSize1, ( UBaseType_t ) sizeof( uint16_t ) );
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151 /* The consumer is created first so gets a block time as described above. */
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152 pxQueueParameters1->xBlockTime = xBlockTime;
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154 /* Pass in the variable that this task is going to increment so we can check it
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155 is still running. */
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156 pxQueueParameters1->psCheckVariable = &( sBlockingConsumerCount[ 0 ] );
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158 /* Create the structure used to pass parameters to the producer task. */
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159 pxQueueParameters2 = ( xBlockingQueueParameters * ) pvPortMalloc( sizeof( xBlockingQueueParameters ) );
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161 /* Pass the queue to this task also, using the parameter structure. */
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162 pxQueueParameters2->xQueue = pxQueueParameters1->xQueue;
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164 /* The producer is not going to block - as soon as it posts the consumer will
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165 wake and remove the item so the producer should always have room to post. */
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166 pxQueueParameters2->xBlockTime = xDontBlock;
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168 /* Pass in the variable that this task is going to increment so we can check
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169 it is still running. */
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170 pxQueueParameters2->psCheckVariable = &( sBlockingProducerCount[ 0 ] );
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173 /* Note the producer has a lower priority than the consumer when the tasks are
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175 xTaskCreate( vBlockingQueueConsumer, "QConsB1", blckqSTACK_SIZE, ( void * ) pxQueueParameters1, uxPriority, NULL );
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176 xTaskCreate( vBlockingQueueProducer, "QProdB2", blckqSTACK_SIZE, ( void * ) pxQueueParameters2, tskIDLE_PRIORITY, NULL );
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180 /* Create the second two tasks as described at the top of the file. This uses
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181 the same mechanism but reverses the task priorities. */
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183 pxQueueParameters3 = ( xBlockingQueueParameters * ) pvPortMalloc( sizeof( xBlockingQueueParameters ) );
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184 pxQueueParameters3->xQueue = xQueueCreate( uxQueueSize1, ( UBaseType_t ) sizeof( uint16_t ) );
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185 pxQueueParameters3->xBlockTime = xDontBlock;
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186 pxQueueParameters3->psCheckVariable = &( sBlockingProducerCount[ 1 ] );
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188 pxQueueParameters4 = ( xBlockingQueueParameters * ) pvPortMalloc( sizeof( xBlockingQueueParameters ) );
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189 pxQueueParameters4->xQueue = pxQueueParameters3->xQueue;
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190 pxQueueParameters4->xBlockTime = xBlockTime;
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191 pxQueueParameters4->psCheckVariable = &( sBlockingConsumerCount[ 1 ] );
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193 xTaskCreate( vBlockingQueueConsumer, "QConsB3", blckqSTACK_SIZE, ( void * ) pxQueueParameters3, tskIDLE_PRIORITY, NULL );
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194 xTaskCreate( vBlockingQueueProducer, "QProdB4", blckqSTACK_SIZE, ( void * ) pxQueueParameters4, uxPriority, NULL );
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198 /* Create the last two tasks as described above. The mechanism is again just
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199 the same. This time both parameter structures are given a block time. */
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200 pxQueueParameters5 = ( xBlockingQueueParameters * ) pvPortMalloc( sizeof( xBlockingQueueParameters ) );
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201 pxQueueParameters5->xQueue = xQueueCreate( uxQueueSize5, ( UBaseType_t ) sizeof( uint16_t ) );
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202 pxQueueParameters5->xBlockTime = xBlockTime;
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203 pxQueueParameters5->psCheckVariable = &( sBlockingProducerCount[ 2 ] );
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205 pxQueueParameters6 = ( xBlockingQueueParameters * ) pvPortMalloc( sizeof( xBlockingQueueParameters ) );
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206 pxQueueParameters6->xQueue = pxQueueParameters5->xQueue;
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207 pxQueueParameters6->xBlockTime = xBlockTime;
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208 pxQueueParameters6->psCheckVariable = &( sBlockingConsumerCount[ 2 ] );
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210 xTaskCreate( vBlockingQueueProducer, "QProdB5", blckqSTACK_SIZE, ( void * ) pxQueueParameters5, tskIDLE_PRIORITY, NULL );
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211 xTaskCreate( vBlockingQueueConsumer, "QConsB6", blckqSTACK_SIZE, ( void * ) pxQueueParameters6, tskIDLE_PRIORITY, NULL );
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213 /*-----------------------------------------------------------*/
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215 static portTASK_FUNCTION( vBlockingQueueProducer, pvParameters )
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217 uint16_t usValue = 0;
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218 xBlockingQueueParameters *pxQueueParameters;
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219 short sErrorEverOccurred = pdFALSE;
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221 pxQueueParameters = ( xBlockingQueueParameters * ) pvParameters;
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225 if( xQueueSend( pxQueueParameters->xQueue, ( void * ) &usValue, pxQueueParameters->xBlockTime ) != pdPASS )
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227 sErrorEverOccurred = pdTRUE;
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231 /* We have successfully posted a message, so increment the variable
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232 used to check we are still running. */
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233 if( sErrorEverOccurred == pdFALSE )
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235 ( *pxQueueParameters->psCheckVariable )++;
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238 /* Increment the variable we are going to post next time round. The
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239 consumer will expect the numbers to follow in numerical order. */
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242 #if configUSE_PREEMPTION == 0
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248 /*-----------------------------------------------------------*/
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250 static portTASK_FUNCTION( vBlockingQueueConsumer, pvParameters )
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252 uint16_t usData, usExpectedValue = 0;
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253 xBlockingQueueParameters *pxQueueParameters;
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254 short sErrorEverOccurred = pdFALSE;
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256 pxQueueParameters = ( xBlockingQueueParameters * ) pvParameters;
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260 if( xQueueReceive( pxQueueParameters->xQueue, &usData, pxQueueParameters->xBlockTime ) == pdPASS )
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262 if( usData != usExpectedValue )
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265 usExpectedValue = usData;
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267 sErrorEverOccurred = pdTRUE;
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271 /* We have successfully received a message, so increment the
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272 variable used to check we are still running. */
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273 if( sErrorEverOccurred == pdFALSE )
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275 ( *pxQueueParameters->psCheckVariable )++;
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278 /* Increment the value we expect to remove from the queue next time
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283 #if configUSE_PREEMPTION == 0
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285 if( pxQueueParameters->xBlockTime == 0 )
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294 /*-----------------------------------------------------------*/
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296 /* This is called to check that all the created tasks are still running. */
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297 BaseType_t xAreBlockingQueuesStillRunning( void )
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299 static short sLastBlockingConsumerCount[ blckqNUM_TASK_SETS ] = { ( uint16_t ) 0, ( uint16_t ) 0, ( uint16_t ) 0 };
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300 static short sLastBlockingProducerCount[ blckqNUM_TASK_SETS ] = { ( uint16_t ) 0, ( uint16_t ) 0, ( uint16_t ) 0 };
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301 BaseType_t xReturn = pdPASS, xTasks;
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303 /* Not too worried about mutual exclusion on these variables as they are 16
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304 bits and we are only reading them. We also only care to see if they have
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307 Loop through each check variable to and return pdFALSE if any are found not
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308 to have changed since the last call. */
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310 for( xTasks = 0; xTasks < blckqNUM_TASK_SETS; xTasks++ )
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312 if( sBlockingConsumerCount[ xTasks ] == sLastBlockingConsumerCount[ xTasks ] )
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316 sLastBlockingConsumerCount[ xTasks ] = sBlockingConsumerCount[ xTasks ];
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319 if( sBlockingProducerCount[ xTasks ] == sLastBlockingProducerCount[ xTasks ] )
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323 sLastBlockingProducerCount[ xTasks ] = sBlockingProducerCount[ xTasks ];
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