2 FreeRTOS V8.1.2 - Copyright (C) 2014 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 ***************************************************************************
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9 * FreeRTOS provides completely free yet professionally developed, *
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10 * robust, strictly quality controlled, supported, and cross *
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11 * platform software that has become a de facto standard. *
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13 * Help yourself get started quickly and support the FreeRTOS *
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14 * project by purchasing a FreeRTOS tutorial book, reference *
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15 * manual, or both from: http://www.FreeRTOS.org/Documentation *
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19 ***************************************************************************
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21 This file is part of the FreeRTOS distribution.
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23 FreeRTOS is free software; you can redistribute it and/or modify it under
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24 the terms of the GNU General Public License (version 2) as published by the
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25 Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
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27 >>! NOTE: The modification to the GPL is included to allow you to !<<
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28 >>! distribute a combined work that includes FreeRTOS without being !<<
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29 >>! obliged to provide the source code for proprietary components !<<
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30 >>! outside of the FreeRTOS kernel. !<<
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32 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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33 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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34 FOR A PARTICULAR PURPOSE. Full license text is available from the following
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35 link: http://www.freertos.org/a00114.html
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39 ***************************************************************************
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41 * Having a problem? Start by reading the FAQ "My application does *
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42 * not run, what could be wrong?" *
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44 * http://www.FreeRTOS.org/FAQHelp.html *
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46 ***************************************************************************
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48 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
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49 license and Real Time Engineers Ltd. contact details.
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51 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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52 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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53 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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55 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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56 Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS
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57 licenses offer ticketed support, indemnification and middleware.
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59 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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60 engineered and independently SIL3 certified version for use in safety and
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61 mission critical applications that require provable dependability.
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67 ******************************************************************************
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68 * -NOTE- The Win32 port is a simulation (or is that emulation?) only! Do not
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69 * expect to get real time behaviour from the Win32 port or this demo
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70 * application. It is provided as a convenient development and demonstration
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71 * test bed only. This was tested using Windows XP on a dual core laptop.
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73 * Windows will not be running the FreeRTOS simulator threads continuously, so
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74 * the timing information in the FreeRTOS+Trace logs have no meaningful units.
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75 * See the documentation page for the Windows simulator for an explanation of
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77 * http://www.freertos.org/FreeRTOS-Windows-Simulator-Emulator-for-Visual-Studio-and-Eclipse-MingW.html
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78 * - READ THE WEB DOCUMENTATION FOR THIS PORT FOR MORE INFORMATION ON USING IT -
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80 * Documentation for this demo can be found on:
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81 * http://www.freertos.org/FreeRTOS-Plus/FreeRTOS_Plus_Trace/Free_RTOS_Plus_Trace_CLI_Example.shtml
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82 ******************************************************************************
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84 * This is a simple FreeRTOS Windows simulator project that makes it easy to
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85 * evaluate FreeRTOS+CLI and FreeRTOS+Trace on a standard desktop PC, without
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86 * any external hardware or interfaces being required.
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88 * To keep everything as simple as possible, the command line interface is
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89 * accessed through a UDP socket on the default Windows loopback IP address of
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90 * 127.0.0.1. Full instructions are provided on the documentation page
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93 * Commands are provided to both start and stop a FreeRTOS+Trace recording.
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94 * Stopping a recording will result in the recorded data being saved to the
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95 * hard disk, ready for viewing in the FreeRTOS+Trace graphical user interface.
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96 * Again, full instructions are provided on the documentation page referenced
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99 * A queue send task and a queue receive task are defined in this file. The
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100 * queue receive task spends most of its time blocked on the queue waiting for
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101 * messages to arrive. The queue send task periodically sends a message to the
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102 * queue, causing the queue receive task to exit the Blocked state. The
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103 * priority of the queue receive task is above that of the queue send task, so
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104 * it pre-empts the queue send task as soon as it leaves the Blocked state. It
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105 * then consumes the message from the queue and prints "message received" to
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106 * the screen before returning to block on the queue once again. This
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107 * sequencing is clearly visible in the recorded FreeRTOS+Trace data.
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111 /* Standard includes. */
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113 #include <stdint.h>
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115 /* FreeRTOS includes. */
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116 #include <FreeRTOS.h>
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120 /* FreeRTOS+Trace includes. */
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121 #include "trcUser.h"
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123 /* Priorities at which the tasks are created. */
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124 #define mainQUEUE_RECEIVE_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
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125 #define mainQUEUE_SEND_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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126 #define mainUDP_CLI_TASK_PRIORITY ( tskIDLE_PRIORITY )
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128 /* The rate at which data is sent to the queue. The (simulated) 250ms value is
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129 converted to ticks using the portTICK_RATE_MS constant. */
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130 #define mainQUEUE_SEND_FREQUENCY_MS ( 250 / portTICK_RATE_MS )
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132 /* The number of items the queue can hold. This is 1 as the receive task
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133 will remove items as they are added, meaning the send task should always find
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134 the queue empty. */
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135 #define mainQUEUE_LENGTH ( 1 )
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137 /*-----------------------------------------------------------*/
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140 * The queue send and receive tasks as described in the comments at the top of
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143 static void prvQueueReceiveTask( void *pvParameters );
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144 static void prvQueueSendTask( void *pvParameters );
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147 * The task that implements the UDP command interpreter using FreeRTOS+CLI.
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149 extern void vUDPCommandInterpreterTask( void *pvParameters );
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152 * Register commands that can be used with FreeRTOS+CLI through the UDP socket.
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153 * The commands are defined in CLI-commands.c.
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155 extern void vRegisterCLICommands( void );
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157 /* The queue used by both tasks. */
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158 static xQueueHandle xQueue = NULL;
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160 /* The user trace event posted to the trace recording on each tick interrupt.
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161 Note tick events will not appear in the trace recording with regular period
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162 because this project runs in a Windows simulator, and does not therefore
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163 exhibit deterministic behaviour. */
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164 traceLabel xTickTraceUserEvent;
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166 /*-----------------------------------------------------------*/
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170 const uint32_t ulLongTime_ms = 250UL;
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172 /* Initialise the trace recorder and create the label used to post user
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173 events to the trace recording on each tick interrupt. */
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174 vTraceInitTraceData();
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175 xTickTraceUserEvent = xTraceOpenLabel( "tick" );
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177 /* Create the queue used to pass messages from the queue send task to the
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178 queue receive task. */
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179 xQueue = xQueueCreate( mainQUEUE_LENGTH, sizeof( unsigned long ) );
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181 /* Give the queue a name for the FreeRTOS+Trace log. */
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182 vTraceSetQueueName( xQueue, "DemoQ" );
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184 /* Start the two tasks as described in the comments at the top of this
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186 xTaskCreate( prvQueueReceiveTask, /* The function that implements the task. */
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187 "Rx", /* The text name assigned to the task - for debug only as it is not used by the kernel. */
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188 configMINIMAL_STACK_SIZE, /* The size of the stack to allocate to the task. Not actually used as a stack in the Win32 simulator port. */
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189 NULL, /* The parameter passed to the task - not used in this example. */
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190 mainQUEUE_RECEIVE_TASK_PRIORITY, /* The priority assigned to the task. */
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191 NULL ); /* The task handle is not required, so NULL is passed. */
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193 xTaskCreate( prvQueueSendTask, "TX", configMINIMAL_STACK_SIZE, NULL, mainQUEUE_SEND_TASK_PRIORITY, NULL );
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195 /* Create the task that handles the CLI on a UDP port. The port number
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196 is set using the configUDP_CLI_PORT_NUMBER setting in FreeRTOSConfig.h. */
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197 xTaskCreate( vUDPCommandInterpreterTask, "CLI", configMINIMAL_STACK_SIZE, NULL, mainUDP_CLI_TASK_PRIORITY, NULL );
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199 /* Register commands with the FreeRTOS+CLI command interpreter. */
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200 vRegisterCLICommands();
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202 /* Start the tasks and timer running. */
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203 vTaskStartScheduler();
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205 /* If all is well, the scheduler will now be running, and the following
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206 line will never be reached. If the following line does execute, then
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207 there was insufficient FreeRTOS heap memory available for the idle and/or
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208 timer tasks to be created. See the memory management section on the
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209 FreeRTOS web site for more details (this is standard text that is not not
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210 really applicable to the Win32 simulator port). */
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213 Sleep( ulLongTime_ms );
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216 /*-----------------------------------------------------------*/
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218 static void prvQueueSendTask( void *pvParameters )
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220 TickType_t xNextWakeTime;
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221 const unsigned long ulValueToSend = 100UL;
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223 /* Remove warning about unused parameters. */
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224 ( void ) pvParameters;
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226 /* Initialise xNextWakeTime - this only needs to be done once. */
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227 xNextWakeTime = xTaskGetTickCount();
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231 /* Place this task in the blocked state until it is time to run again.
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232 While in the Blocked state this task will not consume any CPU time. */
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233 vTaskDelayUntil( &xNextWakeTime, mainQUEUE_SEND_FREQUENCY_MS );
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235 /* Send to the queue - causing the queue receive task to unblock and
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236 write a message to the display. 0 is used as the block time so the
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237 sending operation will not block - it shouldn't need to block as the
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238 queue should always be empty at this point in the code, and it is an
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239 error if it is not. */
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240 xQueueSend( xQueue, &ulValueToSend, 0U );
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243 /*-----------------------------------------------------------*/
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245 static void prvQueueReceiveTask( void *pvParameters )
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247 unsigned long ulReceivedValue;
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249 /* Remove warning about unused parameters. */
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250 ( void ) pvParameters;
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254 /* Wait until something arrives in the queue - this task will block
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255 indefinitely provided INCLUDE_vTaskSuspend is set to 1 in
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256 FreeRTOSConfig.h. */
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257 xQueueReceive( xQueue, &ulReceivedValue, portMAX_DELAY );
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259 /* To get here something must have been received from the queue, but
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260 is it the expected value? If it is, write the message to the
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261 display before looping back to block on the queue again. */
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262 if( ulReceivedValue == 100UL )
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264 printf( "Message received!\r\n" );
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265 ulReceivedValue = 0U;
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269 /*-----------------------------------------------------------*/
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271 void vApplicationIdleHook( void )
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273 const unsigned long ulMSToSleep = 5;
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275 /* This function is called on each cycle of the idle task if
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276 configUSE_IDLE_HOOK is set to 1 in FreeRTOSConfig.h. Sleep to reduce CPU
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278 Sleep( ulMSToSleep );
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280 /*-----------------------------------------------------------*/
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282 void vAssertCalled( void )
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284 const unsigned long ulLongSleep = 1000UL;
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286 taskDISABLE_INTERRUPTS();
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289 Sleep( ulLongSleep );
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292 /*-----------------------------------------------------------*/
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294 void vApplicationTickHook( void )
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296 /* Write a user event to the trace log.
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297 Note tick events will not appear in the trace recording with regular period
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298 because this project runs in a Windows simulator, and does not therefore
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299 exhibit deterministic behaviour. */
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300 vTraceUserEvent( xTickTraceUserEvent );
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