2 FreeRTOS V9.0.1 - Copyright (C) 2017 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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70 /******************************************************************************
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71 * NOTE 1: This project provides two demo applications. A simple blinky style
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72 * project, and a more comprehensive test and demo application. The
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73 * mainCREATE_SIMPLE_BLINKY_DEMO_ONLY setting in main.c is used to select
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74 * between the two. See the notes on using mainCREATE_SIMPLE_BLINKY_DEMO_ONLY
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75 * in main.c. This file implements the simply blinky style version.
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77 * NOTE 2: This file only contains the source code that is specific to the
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78 * basic demo. Generic functions, such FreeRTOS hook functions, and functions
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79 * required to configure the hardware are defined in main.c.
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80 ******************************************************************************
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82 * main_blinky() creates one queue, and two tasks. It then starts the
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85 * The Queue Send Task:
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86 * The queue send task is implemented by the prvQueueSendTask() function in
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87 * this file. prvQueueSendTask() sits in a loop that causes it to repeatedly
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88 * block for 200 milliseconds, before sending the value 100 to the queue that
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89 * was created within main_blinky(). Once the value is sent, the task loops
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90 * back around to block for another 200 milliseconds...and so on.
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92 * The Queue Receive Task:
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93 * The queue receive task is implemented by the prvQueueReceiveTask() function
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94 * in this file. prvQueueReceiveTask() sits in a loop where it repeatedly
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95 * blocks on attempts to read data from the queue that was created within
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96 * main_blinky(). When data is received, the task checks the value of the
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97 * data, and if the value equals the expected 100, toggles an LED. The 'block
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98 * time' parameter passed to the queue receive function specifies that the
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99 * task should be held in the Blocked state indefinitely to wait for data to
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100 * be available on the queue. The queue receive task will only leave the
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101 * Blocked state when the queue send task writes to the queue. As the queue
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102 * send task writes to the queue every 200 milliseconds, the queue receive
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103 * task leaves the Blocked state every 200 milliseconds, and therefore toggles
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104 * the LED every 200 milliseconds.
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108 * This demo is NOT configured to use the LED built onto the SAMA6D2
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111 * The LED driver PIN_LED definitions have been altered in
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112 * board_sama5d2-xplained.h to remap them to GPIOs terminating on pins 30,
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113 * 32 and 34 of J17. (This change is conditional on the preprocessor
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114 * #define "LEDS_ON_J17".) These GPIOs are configured to be "high drive"
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115 * push-pull outputs; they can source up to 18mA at 1.8v. Low
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116 * forward-voltage LEDs may be connected via 100 ohm resistors to pins
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117 * 30, 32 and 34 with their cathodes to pin 35/36 (GND).
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120 /* Kernel includes. */
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121 #include "FreeRTOS.h"
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123 #include "semphr.h"
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125 /* Standard demo includes. */
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126 #include "partest.h"
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128 /* Priorities at which the tasks are created. */
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129 #define mainQUEUE_RECEIVE_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
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130 #define mainQUEUE_SEND_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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132 /* The rate at which data is sent to the queue. The 200ms value is converted
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133 to ticks using the portTICK_PERIOD_MS constant. */
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134 #define mainQUEUE_SEND_FREQUENCY_MS ( 200 / portTICK_PERIOD_MS )
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136 /* The number of items the queue can hold. This is 1 as the receive task
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137 will remove items as they are added, meaning the send task should always find
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138 the queue empty. */
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139 #define mainQUEUE_LENGTH ( 1 )
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141 /* The LED toggled by the Rx task. */
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142 #define mainTASK_LED ( 2 )
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144 /*-----------------------------------------------------------*/
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147 * Called by main when mainCREATE_SIMPLE_BLINKY_DEMO_ONLY is set to 1 in
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150 void main_blinky( void );
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153 * The tasks as described in the comments at the top of this file.
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155 static void prvQueueReceiveTask( void *pvParameters );
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156 static void prvQueueSendTask( void *pvParameters );
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158 /*-----------------------------------------------------------*/
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160 /* The queue used by both tasks. */
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161 static QueueHandle_t xQueue = NULL;
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163 /*-----------------------------------------------------------*/
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165 void main_blinky( void )
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167 /* Create the queue. */
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168 xQueue = xQueueCreate( mainQUEUE_LENGTH, sizeof( uint32_t ) );
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170 if( xQueue != NULL )
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172 /* Start the two tasks as described in the comments at the top of this
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174 xTaskCreate( prvQueueReceiveTask, /* The function that implements the task. */
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175 "Rx", /* The text name assigned to the task - for debug only as it is not used by the kernel. */
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176 configMINIMAL_STACK_SIZE, /* The size of the stack to allocate to the task. */
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177 NULL, /* The parameter passed to the task - not used in this case. */
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178 mainQUEUE_RECEIVE_TASK_PRIORITY, /* The priority assigned to the task. */
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179 NULL ); /* The task handle is not required, so NULL is passed. */
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181 xTaskCreate( prvQueueSendTask, "TX", configMINIMAL_STACK_SIZE, NULL, mainQUEUE_SEND_TASK_PRIORITY, NULL );
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183 /* Start the tasks and timer running. */
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184 vTaskStartScheduler();
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187 /* If all is well, the scheduler will now be running, and the following
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188 line will never be reached. If the following line does execute, then
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189 there was either insufficient FreeRTOS heap memory available for the idle
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190 and/or timer tasks to be created, or vTaskStartScheduler() was called from
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191 User mode. See the memory management section on the FreeRTOS web site for
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192 more details on the FreeRTOS heap http://www.freertos.org/a00111.html. The
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193 mode from which main() is called is set in the C start up code and must be
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194 a privileged mode (not user mode). */
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197 /*-----------------------------------------------------------*/
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199 static void prvQueueSendTask( void *pvParameters )
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201 TickType_t xNextWakeTime;
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202 const unsigned long ulValueToSend = 100UL;
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204 /* Remove compiler warning about unused parameter. */
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205 ( void ) pvParameters;
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207 /* Initialise xNextWakeTime - this only needs to be done once. */
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208 xNextWakeTime = xTaskGetTickCount();
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212 /* Place this task in the blocked state until it is time to run again. */
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213 vTaskDelayUntil( &xNextWakeTime, mainQUEUE_SEND_FREQUENCY_MS );
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215 /* Send to the queue - causing the queue receive task to unblock and
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216 toggle the LED. 0 is used as the block time so the sending operation
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217 will not block - it shouldn't need to block as the queue should always
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218 be empty at this point in the code. */
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219 xQueueSend( xQueue, &ulValueToSend, 0U );
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222 /*-----------------------------------------------------------*/
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224 static void prvQueueReceiveTask( void *pvParameters )
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226 unsigned long ulReceivedValue;
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227 const unsigned long ulExpectedValue = 100UL;
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229 /* Remove compiler warning about unused parameter. */
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230 ( void ) pvParameters;
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234 /* Wait until something arrives in the queue - this task will block
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235 indefinitely provided INCLUDE_vTaskSuspend is set to 1 in
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236 FreeRTOSConfig.h. */
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237 xQueueReceive( xQueue, &ulReceivedValue, portMAX_DELAY );
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239 /* To get here something must have been received from the queue, but
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240 is it the expected value? If it is, toggle the LED. */
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241 if( ulReceivedValue == ulExpectedValue )
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243 vParTestToggleLED( mainTASK_LED );
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244 ulReceivedValue = 0U;
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248 /*-----------------------------------------------------------*/
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