gyro_board/src/usb/CommonDemoTasks/BlockQ.c - RealtimeRoboticsGroup/test - Gitiles

 /*
     FreeRTOS V6.0.5 - Copyright (C) 2010 Real Time Engineers Ltd.

     ***************************************************************************
     *                                                                         *
     * If you are:                                                             *
     *                                                                         *
     *    + New to FreeRTOS,                                                   *
     *    + Wanting to learn FreeRTOS or multitasking in general quickly       *
     *    + Looking for basic training,                                        *
     *    + Wanting to improve your FreeRTOS skills and productivity           *
     *                                                                         *
     * then take a look at the FreeRTOS eBook                                  *
     *                                                                         *
     *        "Using the FreeRTOS Real Time Kernel - a Practical Guide"        *
     *                  http://www.FreeRTOS.org/Documentation                  *
     *                                                                         *
     * A pdf reference manual is also available.  Both are usually delivered   *
     * to your inbox within 20 minutes to two hours when purchased between 8am *
     * and 8pm GMT (although please allow up to 24 hours in case of            *
     * exceptional circumstances).  Thank you for your support!                *
     *                                                                         *
     ***************************************************************************

     This file is part of the FreeRTOS distribution.

     FreeRTOS is free software; you can redistribute it and/or modify it under
     the terms of the GNU General Public License (version 2) as published by the
     Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
     ***NOTE*** The exception to the GPL is included to allow you to distribute
     a combined work that includes FreeRTOS without being obliged to provide the
     source code for proprietary components outside of the FreeRTOS kernel.
     FreeRTOS is distributed in the hope that it will be useful, but WITHOUT
     ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
     FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
     more details. You should have received a copy of the GNU General Public
     License and the FreeRTOS license exception along with FreeRTOS; if not it
     can be viewed here: http://www.freertos.org/a00114.html and also obtained
     by writing to Richard Barry, contact details for whom are available on the
     FreeRTOS WEB site.

     1 tab == 4 spaces!

     http://www.FreeRTOS.org - Documentation, latest information, license and
     contact details.

     http://www.SafeRTOS.com - A version that is certified for use in safety
     critical systems.

     http://www.OpenRTOS.com - Commercial support, development, porting,
     licensing and training services.
 */

 /*
  * Creates six tasks that operate on three queues as follows:
  *
  * The first two tasks send and receive an incrementing number to/from a queue.
  * One task acts as a producer and the other as the consumer.  The consumer is a
  * higher priority than the producer and is set to block on queue reads.  The queue
  * only has space for one item - as soon as the producer posts a message on the
  * queue the consumer will unblock, pre-empt the producer, and remove the item.
  *
  * The second two tasks work the other way around.  Again the queue used only has
  * enough space for one item.  This time the consumer has a lower priority than the
  * producer.  The producer will try to post on the queue blocking when the queue is
  * full.  When the consumer wakes it will remove the item from the queue, causing
  * the producer to unblock, pre-empt the consumer, and immediately re-fill the
  * queue.
  *
  * The last two tasks use the same queue producer and consumer functions.  This time the queue has
  * enough space for lots of items and the tasks operate at the same priority.  The
  * producer will execute, placing items into the queue.  The consumer will start
  * executing when either the queue becomes full (causing the producer to block) or
  * a context switch occurs (tasks of the same priority will time slice).
  *
  */

 /*

 Changes from V4.1.1

 	+ The second set of tasks were created the wrong way around.  This has been
 	  corrected.
 */


 #include <stdlib.h>

 /* Scheduler include files. */
 #include "FreeRTOS.h"
 #include "task.h"
 #include "queue.h"

 /* Demo program include files. */
 #include "BlockQ.h"

 #define blckqSTACK_SIZE		configMINIMAL_STACK_SIZE
 #define blckqNUM_TASK_SETS	( 3 )

 /* Structure used to pass parameters to the blocking queue tasks. */
 typedef struct BLOCKING_QUEUE_PARAMETERS {
 	xQueueHandle xQueue;					/*< The queue to be used by the task. */
 	portTickType xBlockTime;				/*< The block time to use on queue reads/writes. */
 	volatile short *psCheckVariable;	/*< Incremented on each successful cycle to check the task is still running. */
 } xBlockingQueueParameters;

 /* Task function that creates an incrementing number and posts it on a queue. */
 static portTASK_FUNCTION_PROTO(vBlockingQueueProducer, pvParameters);

 /* Task function that removes the incrementing number from a queue and checks that
 it is the expected number. */
 static portTASK_FUNCTION_PROTO(vBlockingQueueConsumer, pvParameters);

 /* Variables which are incremented each time an item is removed from a queue, and
 found to be the expected value.
 These are used to check that the tasks are still running. */
 static volatile short sBlockingConsumerCount[ blckqNUM_TASK_SETS ] = {(unsigned short) 0, (unsigned short) 0, (unsigned short) 0 };

 /* Variable which are incremented each time an item is posted on a queue.   These
 are used to check that the tasks are still running. */
 static volatile short sBlockingProducerCount[ blckqNUM_TASK_SETS ] = {(unsigned short) 0, (unsigned short) 0, (unsigned short) 0 };

 /*-----------------------------------------------------------*/

 void vStartBlockingQueueTasks(unsigned portBASE_TYPE uxPriority)
 {
 	xBlockingQueueParameters *pxQueueParameters1, *pxQueueParameters2;
 	xBlockingQueueParameters *pxQueueParameters3, *pxQueueParameters4;
 	xBlockingQueueParameters *pxQueueParameters5, *pxQueueParameters6;
 	const unsigned portBASE_TYPE uxQueueSize1 = 1, uxQueueSize5 = 5;
 	const portTickType xBlockTime = (portTickType) 1000 / portTICK_RATE_MS;
 	const portTickType xDontBlock = (portTickType) 0;

 	/* Create the first two tasks as described at the top of the file. */

 	/* First create the structure used to pass parameters to the consumer tasks. */
 	pxQueueParameters1 = (xBlockingQueueParameters *) pvPortMalloc(sizeof(xBlockingQueueParameters));

 	/* Create the queue used by the first two tasks to pass the incrementing number.
 	Pass a pointer to the queue in the parameter structure. */
 	pxQueueParameters1->xQueue = xQueueCreate(uxQueueSize1, (unsigned portBASE_TYPE) sizeof(unsigned short));

 	/* The consumer is created first so gets a block time as described above. */
 	pxQueueParameters1->xBlockTime = xBlockTime;

 	/* Pass in the variable that this task is going to increment so we can check it
 	is still running. */
 	pxQueueParameters1->psCheckVariable = &(sBlockingConsumerCount[ 0 ]);

 	/* Create the structure used to pass parameters to the producer task. */
 	pxQueueParameters2 = (xBlockingQueueParameters *) pvPortMalloc(sizeof(xBlockingQueueParameters));

 	/* Pass the queue to this task also, using the parameter structure. */
 	pxQueueParameters2->xQueue = pxQueueParameters1->xQueue;

 	/* The producer is not going to block - as soon as it posts the consumer will
 	wake and remove the item so the producer should always have room to post. */
 	pxQueueParameters2->xBlockTime = xDontBlock;

 	/* Pass in the variable that this task is going to increment so we can check
 	it is still running. */
 	pxQueueParameters2->psCheckVariable = &(sBlockingProducerCount[ 0 ]);


 	/* Note the producer has a lower priority than the consumer when the tasks are
 	spawned. */
 	xTaskCreate(vBlockingQueueConsumer, (signed char *) "QConsB1", blckqSTACK_SIZE, (void *) pxQueueParameters1, uxPriority, NULL);
 	xTaskCreate(vBlockingQueueProducer, (signed char *) "QProdB2", blckqSTACK_SIZE, (void *) pxQueueParameters2, tskIDLE_PRIORITY, NULL);


 	/* Create the second two tasks as described at the top of the file.   This uses
 	the same mechanism but reverses the task priorities. */

 	pxQueueParameters3 = (xBlockingQueueParameters *) pvPortMalloc(sizeof(xBlockingQueueParameters));
 	pxQueueParameters3->xQueue = xQueueCreate(uxQueueSize1, (unsigned portBASE_TYPE) sizeof(unsigned short));
 	pxQueueParameters3->xBlockTime = xDontBlock;
 	pxQueueParameters3->psCheckVariable = &(sBlockingProducerCount[ 1 ]);

 	pxQueueParameters4 = (xBlockingQueueParameters *) pvPortMalloc(sizeof(xBlockingQueueParameters));
 	pxQueueParameters4->xQueue = pxQueueParameters3->xQueue;
 	pxQueueParameters4->xBlockTime = xBlockTime;
 	pxQueueParameters4->psCheckVariable = &(sBlockingConsumerCount[ 1 ]);

 	xTaskCreate(vBlockingQueueConsumer, (signed char *) "QProdB3", blckqSTACK_SIZE, (void *) pxQueueParameters3, tskIDLE_PRIORITY, NULL);
 	xTaskCreate(vBlockingQueueProducer, (signed char *) "QConsB4", blckqSTACK_SIZE, (void *) pxQueueParameters4, uxPriority, NULL);


 	/* Create the last two tasks as described above.  The mechanism is again just
 	the same.  This time both parameter structures are given a block time. */
 	pxQueueParameters5 = (xBlockingQueueParameters *) pvPortMalloc(sizeof(xBlockingQueueParameters));
 	pxQueueParameters5->xQueue = xQueueCreate(uxQueueSize5, (unsigned portBASE_TYPE) sizeof(unsigned short));
 	pxQueueParameters5->xBlockTime = xBlockTime;
 	pxQueueParameters5->psCheckVariable = &(sBlockingProducerCount[ 2 ]);

 	pxQueueParameters6 = (xBlockingQueueParameters *) pvPortMalloc(sizeof(xBlockingQueueParameters));
 	pxQueueParameters6->xQueue = pxQueueParameters5->xQueue;
 	pxQueueParameters6->xBlockTime = xBlockTime;
 	pxQueueParameters6->psCheckVariable = &(sBlockingConsumerCount[ 2 ]);

 	xTaskCreate(vBlockingQueueProducer, (signed char *) "QProdB5", blckqSTACK_SIZE, (void *) pxQueueParameters5, tskIDLE_PRIORITY, NULL);
 	xTaskCreate(vBlockingQueueConsumer, (signed char *) "QConsB6", blckqSTACK_SIZE, (void *) pxQueueParameters6, tskIDLE_PRIORITY, NULL);
 }
 /*-----------------------------------------------------------*/

 static portTASK_FUNCTION(vBlockingQueueProducer, pvParameters)
 {
 	unsigned short usValue = 0;
 	xBlockingQueueParameters *pxQueueParameters;
 	short sErrorEverOccurred = pdFALSE;

 	pxQueueParameters = (xBlockingQueueParameters *) pvParameters;

 	for (;;) {
 		if (xQueueSend(pxQueueParameters->xQueue, (void *) &usValue, pxQueueParameters->xBlockTime) != pdPASS) {
 			sErrorEverOccurred = pdTRUE;
 		} else {
 			/* We have successfully posted a message, so increment the variable
 			used to check we are still running. */
 			if (sErrorEverOccurred == pdFALSE) {
 				(*pxQueueParameters->psCheckVariable)++;
 			}

 			/* Increment the variable we are going to post next time round.  The
 			consumer will expect the numbers to	follow in numerical order. */
 			++usValue;
 		}
 	}
 }
 /*-----------------------------------------------------------*/

 static portTASK_FUNCTION(vBlockingQueueConsumer, pvParameters)
 {
 	unsigned short usData, usExpectedValue = 0;
 	xBlockingQueueParameters *pxQueueParameters;
 	short sErrorEverOccurred = pdFALSE;

 	pxQueueParameters = (xBlockingQueueParameters *) pvParameters;

 	for (;;) {
 		if (xQueueReceive(pxQueueParameters->xQueue, &usData, pxQueueParameters->xBlockTime) == pdPASS) {
 			if (usData != usExpectedValue) {
 				/* Catch-up. */
 				usExpectedValue = usData;

 				sErrorEverOccurred = pdTRUE;
 			} else {
 				/* We have successfully received a message, so increment the
 				variable used to check we are still running. */
 				if (sErrorEverOccurred == pdFALSE) {
 					(*pxQueueParameters->psCheckVariable)++;
 				}

 				/* Increment the value we expect to remove from the queue next time
 				round. */
 				++usExpectedValue;
 			}
 		}
 	}
 }
 /*-----------------------------------------------------------*/

 /* This is called to check that all the created tasks are still running. */
 portBASE_TYPE xAreBlockingQueuesStillRunning(void)
 {
 	static short sLastBlockingConsumerCount[ blckqNUM_TASK_SETS ] = {(unsigned short) 0, (unsigned short) 0, (unsigned short) 0 };
 	static short sLastBlockingProducerCount[ blckqNUM_TASK_SETS ] = {(unsigned short) 0, (unsigned short) 0, (unsigned short) 0 };
 	portBASE_TYPE xReturn = pdPASS, xTasks;

 	/* Not too worried about mutual exclusion on these variables as they are 16
 	bits and we are only reading them. We also only care to see if they have
 	changed or not.

 	Loop through each check variable to and return pdFALSE if any are found not
 	to have changed since the last call. */

 	for (xTasks = 0; xTasks < blckqNUM_TASK_SETS; xTasks++) {
 		if (sBlockingConsumerCount[ xTasks ] == sLastBlockingConsumerCount[ xTasks ]) {
 			xReturn = pdFALSE;
 		}
 		sLastBlockingConsumerCount[ xTasks ] = sBlockingConsumerCount[ xTasks ];


 		if (sBlockingProducerCount[ xTasks ] == sLastBlockingProducerCount[ xTasks ]) {
 			xReturn = pdFALSE;
 		}
 		sLastBlockingProducerCount[ xTasks ] = sBlockingProducerCount[ xTasks ];
 	}

 	return xReturn;
 }
	/*
	FreeRTOS V6.0.5 - Copyright (C) 2010 Real Time Engineers Ltd.

	***************************************************************************
	* *
	* If you are: *
	* *
	* + New to FreeRTOS, *
	* + Wanting to learn FreeRTOS or multitasking in general quickly *
	* + Looking for basic training, *
	* + Wanting to improve your FreeRTOS skills and productivity *
	* *
	* then take a look at the FreeRTOS eBook *
	* *
	* "Using the FreeRTOS Real Time Kernel - a Practical Guide" *
	* http://www.FreeRTOS.org/Documentation *
	* *
	* A pdf reference manual is also available. Both are usually delivered *
	* to your inbox within 20 minutes to two hours when purchased between 8am *
	* and 8pm GMT (although please allow up to 24 hours in case of *
	* exceptional circumstances). Thank you for your support! *
	* *
	***************************************************************************

	This file is part of the FreeRTOS distribution.

	FreeRTOS is free software; you can redistribute it and/or modify it under
	the terms of the GNU General Public License (version 2) as published by the
	Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
	*NOTE* The exception to the GPL is included to allow you to distribute
	a combined work that includes FreeRTOS without being obliged to provide the
	source code for proprietary components outside of the FreeRTOS kernel.
	FreeRTOS is distributed in the hope that it will be useful, but WITHOUT
	ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
	FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
	more details. You should have received a copy of the GNU General Public
	License and the FreeRTOS license exception along with FreeRTOS; if not it
	can be viewed here: http://www.freertos.org/a00114.html and also obtained
	by writing to Richard Barry, contact details for whom are available on the
	FreeRTOS WEB site.

	1 tab == 4 spaces!

	http://www.FreeRTOS.org - Documentation, latest information, license and
	contact details.

	http://www.SafeRTOS.com - A version that is certified for use in safety
	critical systems.

	http://www.OpenRTOS.com - Commercial support, development, porting,
	licensing and training services.
	*/

	/*
	* Creates six tasks that operate on three queues as follows:
	*
	* The first two tasks send and receive an incrementing number to/from a queue.
	* One task acts as a producer and the other as the consumer. The consumer is a
	* higher priority than the producer and is set to block on queue reads. The queue
	* only has space for one item - as soon as the producer posts a message on the
	* queue the consumer will unblock, pre-empt the producer, and remove the item.
	*
	* The second two tasks work the other way around. Again the queue used only has
	* enough space for one item. This time the consumer has a lower priority than the
	* producer. The producer will try to post on the queue blocking when the queue is
	* full. When the consumer wakes it will remove the item from the queue, causing
	* the producer to unblock, pre-empt the consumer, and immediately re-fill the
	* queue.
	*
	* The last two tasks use the same queue producer and consumer functions. This time the queue has
	* enough space for lots of items and the tasks operate at the same priority. The
	* producer will execute, placing items into the queue. The consumer will start
	* executing when either the queue becomes full (causing the producer to block) or
	* a context switch occurs (tasks of the same priority will time slice).
	*
	*/

	/*

	Changes from V4.1.1

	+ The second set of tasks were created the wrong way around. This has been
	corrected.
	*/


	#include <stdlib.h>

	/* Scheduler include files. */
	#include "FreeRTOS.h"
	#include "task.h"
	#include "queue.h"

	/* Demo program include files. */
	#include "BlockQ.h"

	#define blckqSTACK_SIZE configMINIMAL_STACK_SIZE
	#define blckqNUM_TASK_SETS ( 3 )

	/* Structure used to pass parameters to the blocking queue tasks. */
	typedef struct BLOCKING_QUEUE_PARAMETERS {
	xQueueHandle xQueue; /< The queue to be used by the task. /
	portTickType xBlockTime; /< The block time to use on queue reads/writes. /
	volatile short psCheckVariable; /< Incremented on each successful cycle to check the task is still running. */
	} xBlockingQueueParameters;

	/* Task function that creates an incrementing number and posts it on a queue. */
	static portTASK_FUNCTION_PROTO(vBlockingQueueProducer, pvParameters);

	/* Task function that removes the incrementing number from a queue and checks that
	it is the expected number. */
	static portTASK_FUNCTION_PROTO(vBlockingQueueConsumer, pvParameters);

	/* Variables which are incremented each time an item is removed from a queue, and
	found to be the expected value.
	These are used to check that the tasks are still running. */
	static volatile short sBlockingConsumerCount[ blckqNUM_TASK_SETS ] = {(unsigned short) 0, (unsigned short) 0, (unsigned short) 0 };

	/* Variable which are incremented each time an item is posted on a queue. These
	are used to check that the tasks are still running. */
	static volatile short sBlockingProducerCount[ blckqNUM_TASK_SETS ] = {(unsigned short) 0, (unsigned short) 0, (unsigned short) 0 };

	/-----------------------------------------------------------/

	void vStartBlockingQueueTasks(unsigned portBASE_TYPE uxPriority)
	{
	xBlockingQueueParameters pxQueueParameters1, pxQueueParameters2;
	xBlockingQueueParameters pxQueueParameters3, pxQueueParameters4;
	xBlockingQueueParameters pxQueueParameters5, pxQueueParameters6;
	const unsigned portBASE_TYPE uxQueueSize1 = 1, uxQueueSize5 = 5;
	const portTickType xBlockTime = (portTickType) 1000 / portTICK_RATE_MS;
	const portTickType xDontBlock = (portTickType) 0;

	/* Create the first two tasks as described at the top of the file. */

	/* First create the structure used to pass parameters to the consumer tasks. */
	pxQueueParameters1 = (xBlockingQueueParameters *) pvPortMalloc(sizeof(xBlockingQueueParameters));

	/* Create the queue used by the first two tasks to pass the incrementing number.
	Pass a pointer to the queue in the parameter structure. */
	pxQueueParameters1->xQueue = xQueueCreate(uxQueueSize1, (unsigned portBASE_TYPE) sizeof(unsigned short));

	/* The consumer is created first so gets a block time as described above. */
	pxQueueParameters1->xBlockTime = xBlockTime;

	/* Pass in the variable that this task is going to increment so we can check it
	is still running. */
	pxQueueParameters1->psCheckVariable = &(sBlockingConsumerCount[ 0 ]);

	/* Create the structure used to pass parameters to the producer task. */
	pxQueueParameters2 = (xBlockingQueueParameters *) pvPortMalloc(sizeof(xBlockingQueueParameters));

	/* Pass the queue to this task also, using the parameter structure. */
	pxQueueParameters2->xQueue = pxQueueParameters1->xQueue;

	/* The producer is not going to block - as soon as it posts the consumer will
	wake and remove the item so the producer should always have room to post. */
	pxQueueParameters2->xBlockTime = xDontBlock;

	/* Pass in the variable that this task is going to increment so we can check
	it is still running. */
	pxQueueParameters2->psCheckVariable = &(sBlockingProducerCount[ 0 ]);


	/* Note the producer has a lower priority than the consumer when the tasks are
	spawned. */
	xTaskCreate(vBlockingQueueConsumer, (signed char ) "QConsB1", blckqSTACK_SIZE, (void ) pxQueueParameters1, uxPriority, NULL);
	xTaskCreate(vBlockingQueueProducer, (signed char ) "QProdB2", blckqSTACK_SIZE, (void ) pxQueueParameters2, tskIDLE_PRIORITY, NULL);



	/* Create the second two tasks as described at the top of the file. This uses
	the same mechanism but reverses the task priorities. */

	pxQueueParameters3 = (xBlockingQueueParameters *) pvPortMalloc(sizeof(xBlockingQueueParameters));
	pxQueueParameters3->xQueue = xQueueCreate(uxQueueSize1, (unsigned portBASE_TYPE) sizeof(unsigned short));
	pxQueueParameters3->xBlockTime = xDontBlock;
	pxQueueParameters3->psCheckVariable = &(sBlockingProducerCount[ 1 ]);

	pxQueueParameters4 = (xBlockingQueueParameters *) pvPortMalloc(sizeof(xBlockingQueueParameters));
	pxQueueParameters4->xQueue = pxQueueParameters3->xQueue;
	pxQueueParameters4->xBlockTime = xBlockTime;
	pxQueueParameters4->psCheckVariable = &(sBlockingConsumerCount[ 1 ]);

	xTaskCreate(vBlockingQueueConsumer, (signed char ) "QProdB3", blckqSTACK_SIZE, (void ) pxQueueParameters3, tskIDLE_PRIORITY, NULL);
	xTaskCreate(vBlockingQueueProducer, (signed char ) "QConsB4", blckqSTACK_SIZE, (void ) pxQueueParameters4, uxPriority, NULL);



	/* Create the last two tasks as described above. The mechanism is again just
	the same. This time both parameter structures are given a block time. */
	pxQueueParameters5 = (xBlockingQueueParameters *) pvPortMalloc(sizeof(xBlockingQueueParameters));
	pxQueueParameters5->xQueue = xQueueCreate(uxQueueSize5, (unsigned portBASE_TYPE) sizeof(unsigned short));
	pxQueueParameters5->xBlockTime = xBlockTime;
	pxQueueParameters5->psCheckVariable = &(sBlockingProducerCount[ 2 ]);

	pxQueueParameters6 = (xBlockingQueueParameters *) pvPortMalloc(sizeof(xBlockingQueueParameters));
	pxQueueParameters6->xQueue = pxQueueParameters5->xQueue;
	pxQueueParameters6->xBlockTime = xBlockTime;
	pxQueueParameters6->psCheckVariable = &(sBlockingConsumerCount[ 2 ]);

	xTaskCreate(vBlockingQueueProducer, (signed char ) "QProdB5", blckqSTACK_SIZE, (void ) pxQueueParameters5, tskIDLE_PRIORITY, NULL);
	xTaskCreate(vBlockingQueueConsumer, (signed char ) "QConsB6", blckqSTACK_SIZE, (void ) pxQueueParameters6, tskIDLE_PRIORITY, NULL);
	}
	/-----------------------------------------------------------/

	static portTASK_FUNCTION(vBlockingQueueProducer, pvParameters)
	{
	unsigned short usValue = 0;
	xBlockingQueueParameters *pxQueueParameters;
	short sErrorEverOccurred = pdFALSE;

	pxQueueParameters = (xBlockingQueueParameters *) pvParameters;

	for (;;) {
	if (xQueueSend(pxQueueParameters->xQueue, (void *) &usValue, pxQueueParameters->xBlockTime) != pdPASS) {
	sErrorEverOccurred = pdTRUE;
	} else {
	/* We have successfully posted a message, so increment the variable
	used to check we are still running. */
	if (sErrorEverOccurred == pdFALSE) {
	(*pxQueueParameters->psCheckVariable)++;
	}

	/* Increment the variable we are going to post next time round. The
	consumer will expect the numbers to follow in numerical order. */
	++usValue;
	}
	}
	}
	/-----------------------------------------------------------/

	static portTASK_FUNCTION(vBlockingQueueConsumer, pvParameters)
	{
	unsigned short usData, usExpectedValue = 0;
	xBlockingQueueParameters *pxQueueParameters;
	short sErrorEverOccurred = pdFALSE;

	pxQueueParameters = (xBlockingQueueParameters *) pvParameters;

	for (;;) {
	if (xQueueReceive(pxQueueParameters->xQueue, &usData, pxQueueParameters->xBlockTime) == pdPASS) {
	if (usData != usExpectedValue) {
	/* Catch-up. */
	usExpectedValue = usData;

	sErrorEverOccurred = pdTRUE;
	} else {
	/* We have successfully received a message, so increment the
	variable used to check we are still running. */
	if (sErrorEverOccurred == pdFALSE) {
	(*pxQueueParameters->psCheckVariable)++;
	}

	/* Increment the value we expect to remove from the queue next time
	round. */
	++usExpectedValue;
	}
	}
	}
	}
	/-----------------------------------------------------------/

	/* This is called to check that all the created tasks are still running. */
	portBASE_TYPE xAreBlockingQueuesStillRunning(void)
	{
	static short sLastBlockingConsumerCount[ blckqNUM_TASK_SETS ] = {(unsigned short) 0, (unsigned short) 0, (unsigned short) 0 };
	static short sLastBlockingProducerCount[ blckqNUM_TASK_SETS ] = {(unsigned short) 0, (unsigned short) 0, (unsigned short) 0 };
	portBASE_TYPE xReturn = pdPASS, xTasks;

	/* Not too worried about mutual exclusion on these variables as they are 16
	bits and we are only reading them. We also only care to see if they have
	changed or not.

	Loop through each check variable to and return pdFALSE if any are found not
	to have changed since the last call. */

	for (xTasks = 0; xTasks < blckqNUM_TASK_SETS; xTasks++) {
	if (sBlockingConsumerCount[ xTasks ] == sLastBlockingConsumerCount[ xTasks ]) {
	xReturn = pdFALSE;
	}
	sLastBlockingConsumerCount[ xTasks ] = sBlockingConsumerCount[ xTasks ];


	if (sBlockingProducerCount[ xTasks ] == sLastBlockingProducerCount[ xTasks ]) {
	xReturn = pdFALSE;
	}
	sLastBlockingProducerCount[ xTasks ] = sBlockingProducerCount[ xTasks ];
	}

	return xReturn;
	}