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jeremybenn |
/*
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FreeRTOS V6.1.1 - Copyright (C) 2011 Real Time Engineers Ltd.
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***************************************************************************
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* *
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* If you are: *
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* *
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* + New to FreeRTOS, *
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* + Wanting to learn FreeRTOS or multitasking in general quickly *
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* + Looking for basic training, *
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* + Wanting to improve your FreeRTOS skills and productivity *
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* *
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* then take a look at the FreeRTOS books - available as PDF or paperback *
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* *
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* "Using the FreeRTOS Real Time Kernel - a Practical Guide" *
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* http://www.FreeRTOS.org/Documentation *
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* *
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* A pdf reference manual is also available. Both are usually delivered *
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* to your inbox within 20 minutes to two hours when purchased between 8am *
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* and 8pm GMT (although please allow up to 24 hours in case of *
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* exceptional circumstances). Thank you for your support! *
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* *
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***************************************************************************
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This file is part of the FreeRTOS distribution.
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FreeRTOS is free software; you can redistribute it and/or modify it under
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the terms of the GNU General Public License (version 2) as published by the
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Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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***NOTE*** The exception to the GPL is included to allow you to distribute
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a combined work that includes FreeRTOS without being obliged to provide the
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source code for proprietary components outside of the FreeRTOS kernel.
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FreeRTOS is distributed in the hope that it will be useful, but WITHOUT
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ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
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FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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more details. You should have received a copy of the GNU General Public
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License and the FreeRTOS license exception along with FreeRTOS; if not it
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can be viewed here: http://www.freertos.org/a00114.html and also obtained
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by writing to Richard Barry, contact details for whom are available on the
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FreeRTOS WEB site.
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1 tab == 4 spaces!
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http://www.FreeRTOS.org - Documentation, latest information, license and
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contact details.
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http://www.SafeRTOS.com - A version that is certified for use in safety
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critical systems.
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http://www.OpenRTOS.com - Commercial support, development, porting,
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licensing and training services.
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*/
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/*
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* This demo application file demonstrates the use of queues to pass data
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* between co-routines.
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*
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* N represents the number of 'fixed delay' co-routines that are created and
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* is set during initialisation.
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*
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* N 'fixed delay' co-routines are created that just block for a fixed
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* period then post the number of an LED onto a queue. Each such co-routine
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* uses a different block period. A single 'flash' co-routine is also created
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* that blocks on the same queue, waiting for the number of the next LED it
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* should flash. Upon receiving a number it simply toggle the instructed LED
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* then blocks on the queue once more. In this manner each LED from LED 0 to
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* LED N-1 is caused to flash at a different rate.
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*
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* The 'fixed delay' co-routines are created with co-routine priority 0. The
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* flash co-routine is created with co-routine priority 1. This means that
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* the queue should never contain more than a single item. This is because
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* posting to the queue will unblock the 'flash' co-routine, and as this has
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* a priority greater than the tasks posting to the queue it is guaranteed to
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* have emptied the queue and blocked once again before the queue can contain
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* any more date. An error is indicated if an attempt to post data to the
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* queue fails - indicating that the queue is already full.
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*
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*/
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/* Scheduler includes. */
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#include "FreeRTOS.h"
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#include "croutine.h"
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#include "queue.h"
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/* Demo application includes. */
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#include "partest.h"
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#include "crflash.h"
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/* The queue should only need to be of length 1. See the description at the
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top of the file. */
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#define crfQUEUE_LENGTH 1
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#define crfFIXED_DELAY_PRIORITY 0
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#define crfFLASH_PRIORITY 1
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/* Only one flash co-routine is created so the index is not significant. */
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#define crfFLASH_INDEX 0
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/* Don't allow more than crfMAX_FLASH_TASKS 'fixed delay' co-routines to be
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created. */
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#define crfMAX_FLASH_TASKS 8
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/* We don't want to block when posting to the queue. */
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#define crfPOSTING_BLOCK_TIME 0
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/*
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* The 'fixed delay' co-routine as described at the top of the file.
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*/
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static void prvFixedDelayCoRoutine( xCoRoutineHandle xHandle, unsigned portBASE_TYPE uxIndex );
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/*
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* The 'flash' co-routine as described at the top of the file.
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*/
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static void prvFlashCoRoutine( xCoRoutineHandle xHandle, unsigned portBASE_TYPE uxIndex );
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/* The queue used to pass data between the 'fixed delay' co-routines and the
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'flash' co-routine. */
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static xQueueHandle xFlashQueue;
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/* This will be set to pdFALSE if we detect an error. */
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static portBASE_TYPE xCoRoutineFlashStatus = pdPASS;
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/*-----------------------------------------------------------*/
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/*
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* See the header file for details.
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*/
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void vStartFlashCoRoutines( unsigned portBASE_TYPE uxNumberToCreate )
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{
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unsigned portBASE_TYPE uxIndex;
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if( uxNumberToCreate > crfMAX_FLASH_TASKS )
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{
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uxNumberToCreate = crfMAX_FLASH_TASKS;
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}
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/* Create the queue used to pass data between the co-routines. */
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xFlashQueue = xQueueCreate( crfQUEUE_LENGTH, sizeof( unsigned portBASE_TYPE ) );
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if( xFlashQueue )
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{
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/* Create uxNumberToCreate 'fixed delay' co-routines. */
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for( uxIndex = 0; uxIndex < uxNumberToCreate; uxIndex++ )
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{
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xCoRoutineCreate( prvFixedDelayCoRoutine, crfFIXED_DELAY_PRIORITY, uxIndex );
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}
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/* Create the 'flash' co-routine. */
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xCoRoutineCreate( prvFlashCoRoutine, crfFLASH_PRIORITY, crfFLASH_INDEX );
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}
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}
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/*-----------------------------------------------------------*/
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static void prvFixedDelayCoRoutine( xCoRoutineHandle xHandle, unsigned portBASE_TYPE uxIndex )
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{
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/* Even though this is a co-routine the xResult variable does not need to be
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static as we do not need it to maintain its state between blocks. */
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signed portBASE_TYPE xResult;
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/* The uxIndex parameter of the co-routine function is used as an index into
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the xFlashRates array to obtain the delay period to use. */
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static const portTickType xFlashRates[ crfMAX_FLASH_TASKS ] = { 150 / portTICK_RATE_MS,
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200 / portTICK_RATE_MS,
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250 / portTICK_RATE_MS,
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300 / portTICK_RATE_MS,
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350 / portTICK_RATE_MS,
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400 / portTICK_RATE_MS,
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450 / portTICK_RATE_MS,
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500 / portTICK_RATE_MS };
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/* Co-routines MUST start with a call to crSTART. */
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crSTART( xHandle );
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for( ;; )
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{
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/* Post our uxIndex value onto the queue. This is used as the LED to
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flash. */
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crQUEUE_SEND( xHandle, xFlashQueue, ( void * ) &uxIndex, crfPOSTING_BLOCK_TIME, &xResult );
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if( xResult != pdPASS )
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{
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/* For the reasons stated at the top of the file we should always
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find that we can post to the queue. If we could not then an error
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has occurred. */
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xCoRoutineFlashStatus = pdFAIL;
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}
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crDELAY( xHandle, xFlashRates[ uxIndex ] );
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}
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/* Co-routines MUST end with a call to crEND. */
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crEND();
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}
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/*-----------------------------------------------------------*/
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static void prvFlashCoRoutine( xCoRoutineHandle xHandle, unsigned portBASE_TYPE uxIndex )
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{
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/* Even though this is a co-routine the variable do not need to be
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static as we do not need it to maintain their state between blocks. */
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signed portBASE_TYPE xResult;
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unsigned portBASE_TYPE uxLEDToFlash;
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/* Co-routines MUST start with a call to crSTART. */
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crSTART( xHandle );
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( void ) uxIndex;
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for( ;; )
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{
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/* Block to wait for the number of the LED to flash. */
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crQUEUE_RECEIVE( xHandle, xFlashQueue, &uxLEDToFlash, portMAX_DELAY, &xResult );
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if( xResult != pdPASS )
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{
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/* We would not expect to wake unless we received something. */
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xCoRoutineFlashStatus = pdFAIL;
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}
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else
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{
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/* We received the number of an LED to flash - flash it! */
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vParTestToggleLED( uxLEDToFlash );
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}
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}
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/* Co-routines MUST end with a call to crEND. */
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crEND();
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}
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/*-----------------------------------------------------------*/
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portBASE_TYPE xAreFlashCoRoutinesStillRunning( void )
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{
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/* Return pdPASS or pdFAIL depending on whether an error has been detected
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or not. */
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return xCoRoutineFlashStatus;
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}
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