2 FreeRTOS V7.1.1 - Copyright (C) 2012 Real Time Engineers Ltd.
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5 ***************************************************************************
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7 * FreeRTOS tutorial books are available in pdf and paperback. *
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8 * Complete, revised, and edited pdf reference manuals are also *
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11 * Purchasing FreeRTOS documentation will not only help you, by *
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12 * ensuring you get running as quickly as possible and with an *
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13 * in-depth knowledge of how to use FreeRTOS, it will also help *
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14 * the FreeRTOS project to continue with its mission of providing *
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15 * professional grade, cross platform, de facto standard solutions *
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16 * for microcontrollers - completely free of charge! *
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18 * >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
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20 * Thank you for using FreeRTOS, and thank you for your support! *
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22 ***************************************************************************
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25 This file is part of the FreeRTOS distribution.
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27 FreeRTOS is free software; you can redistribute it and/or modify it under
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28 the terms of the GNU General Public License (version 2) as published by the
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29 Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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30 >>>NOTE<<< The modification to the GPL is included to allow you to
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31 distribute a combined work that includes FreeRTOS without being obliged to
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32 provide the source code for proprietary components outside of the FreeRTOS
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33 kernel. FreeRTOS is distributed in the hope that it will be useful, but
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34 WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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35 or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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36 more details. You should have received a copy of the GNU General Public
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37 License and the FreeRTOS license exception along with FreeRTOS; if not it
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38 can be viewed here: http://www.freertos.org/a00114.html and also obtained
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39 by writing to Richard Barry, contact details for whom are available on the
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44 ***************************************************************************
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46 * Having a problem? Start by reading the FAQ "My application does *
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47 * not run, what could be wrong? *
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49 * http://www.FreeRTOS.org/FAQHelp.html *
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51 ***************************************************************************
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54 http://www.FreeRTOS.org - Documentation, training, latest information,
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55 license and contact details.
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57 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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58 including FreeRTOS+Trace - an indispensable productivity tool.
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60 Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell
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61 the code with commercial support, indemnification, and middleware, under
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62 the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also
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63 provide a safety engineered and independently SIL3 certified version under
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64 the SafeRTOS brand: http://www.SafeRTOS.com.
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68 NOTE : Tasks run in system mode and the scheduler runs in Supervisor mode.
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69 The processor MUST be in supervisor mode when vTaskStartScheduler is
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70 called. The demo applications included in the FreeRTOS.org download switch
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71 to supervisor mode prior to main being called. If you are not using one of
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72 these demo application projects then ensure Supervisor mode is used.
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76 * Creates all the demo application tasks, then starts the scheduler. The WEB
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77 * documentation provides more details of the demo application tasks.
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79 * A few tasks are created that are not part of the standard demo. These are
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80 * the 'LCD' task, the 'LCD Message' task, a WEB server task and the 'Check'
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83 * The LCD task is the only task that accesses the LCD directly, so mutual
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84 * exclusion is ensured. Any task wishing to display text sends the LCD task
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85 * a message containing a pointer to the string that should be displayed.
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86 * The LCD task itself just blocks on a queue waiting for such a message to
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87 * arrive - processing each in turn.
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89 * The LCD Message task does nothing other than periodically send messages to
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90 * the LCD task. The messages originating from the LCD Message task are
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91 * displayed on the top row of the LCD.
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93 * The Check task only executes every three seconds but has the highest
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94 * priority so is guaranteed to get processor time. Its main function is to
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95 * check that all the other tasks are still operational. Most tasks maintain
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96 * a unique count that is incremented each time the task successfully completes
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97 * a cycle of its function. Should any error occur within such a task the
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98 * count is permanently halted. The check task sets a bit in an error status
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99 * flag should it find any counter variable at a value that indicates an
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100 * error has occurred. The error flag value is converted to a string and sent
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101 * to the LCD task for display on the bottom row on the LCD.
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104 /* Standard includes. */
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107 /* Library includes. */
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108 #include "91x_lib.h"
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110 /* Scheduler includes. */
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111 #include "FreeRTOS.h"
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115 /* Demo application includes. */
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118 #include "integer.h"
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120 #include "BlockQ.h"
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121 #include "semtest.h"
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122 #include "dynamic.h"
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123 #include "partest.h"
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125 #include "comtest2.h"
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126 #include "serial.h"
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127 #include "GenQTest.h"
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131 #include "BasicWEB.h"
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135 /* Priorities for the demo application tasks. */
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136 #define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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137 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
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138 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 4 )
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139 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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140 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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141 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 3 )
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142 #define mainLCD_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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143 #define mainMSG_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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144 #define mainGENERIC_QUEUE_PRIORITY ( tskIDLE_PRIORITY )
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146 /* Delays used by the various tasks defined in this file. */
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147 #define mainCHECK_PERIOD ( ( portTickType ) 3000 / portTICK_RATE_MS )
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148 #define mainSTRING_WRITE_DELAY ( 500 / portTICK_RATE_MS )
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149 #define mainLCD_DELAY ( 20 / portTICK_RATE_MS )
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151 /* Constants for the ComTest tasks. */
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152 #define mainCOM_TEST_BAUD_RATE ( ( unsigned long ) 115200 )
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153 #define mainCOM_TEST_LED ( 3 )
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155 /* The maximum number of messages that can be pending to be written to the LCD. */
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156 #define mainLCD_QUEUE_LEN ( 6 )
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158 /* Dimension the buffer used to write the error flag string. */
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159 #define mainMAX_FLAG_STRING_LEN ( 32 )
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161 /* The structure that is passed on the LCD message queue. */
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164 char **ppcMessageToDisplay; /*<< Points to a char* pointing to the message to display. */
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165 portBASE_TYPE xRow; /*<< The row on which the message should be displayed. */
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167 /*-----------------------------------------------------------*/
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170 * The task that executes at the highest priority and calls
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171 * prvCheckOtherTasksAreStillRunning(). See the description at the top
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174 static void vErrorChecks( void *pvParameters );
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177 * Configure the processor clock and ports.
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179 static void prvSetupHardware( void );
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182 * Checks that all the demo application tasks are still executing without error
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183 * - as described at the top of the file. Called by vErrorChecks().
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185 static void prvCheckOtherTasksAreStillRunning( void );
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189 * The WEB server task prototype. The task is created in this file but defined
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190 * elsewhere. STACK_UIP is defined when the uIP stack is used in preference
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191 * to the lwIP stack.
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193 extern void vuIP_Task(void *pvParameters);
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197 * The task that displays text on the LCD.
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199 static void prvLCDTask( void * pvParameters );
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202 * The task that sends messages to be displayed on the top row of the LCD.
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204 static void prvLCDMessageTask( void * pvParameters );
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206 /*-----------------------------------------------------------*/
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208 /* The queue used to pass messages to the LCD task. */
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209 static xQueueHandle xLCDQueue;
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211 /* Error status flag. */
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212 static unsigned long ulErrorFlags = 0;
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214 /*-----------------------------------------------------------*/
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217 * Starts all the other tasks, then starts the scheduler.
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225 /* Setup any hardware that has not already been configured by the low
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226 level init routines. */
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227 prvSetupHardware();
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228 /* Create the queue used to send data to the LCD task. */
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229 xLCDQueue = xQueueCreate( mainLCD_QUEUE_LEN, sizeof( xLCDMessage ) );
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231 /* Start all the standard demo application tasks. */
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232 vStartIntegerMathTasks( tskIDLE_PRIORITY );
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233 vStartLEDFlashTasks( mainLED_TASK_PRIORITY );
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234 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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235 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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236 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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237 vStartDynamicPriorityTasks();
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238 vStartMathTasks( tskIDLE_PRIORITY );
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239 vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
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240 vStartGenericQueueTasks( mainGENERIC_QUEUE_PRIORITY );
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241 vStartQueuePeekTasks();
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243 /* Start the tasks which are defined in this file. */
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244 xTaskCreate( vErrorChecks, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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245 xTaskCreate( prvLCDTask, "LCD", configMINIMAL_STACK_SIZE, ( void * ) &xLCDQueue, mainLCD_TASK_PRIORITY, NULL );
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246 xTaskCreate( prvLCDMessageTask, "MSG", configMINIMAL_STACK_SIZE, ( void * ) &xLCDQueue, mainMSG_TASK_PRIORITY, NULL );
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248 /* Start either the uIP TCP/IP stack or the lwIP TCP/IP stack. */
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250 /* Finally, create the WEB server task. */
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251 xTaskCreate( vuIP_Task, "uIP", configMINIMAL_STACK_SIZE * 3, NULL, mainCHECK_TASK_PRIORITY - 1, NULL );
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255 /* Create the lwIP task. This uses the lwIP RTOS abstraction layer.*/
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257 sys_set_state( ( signed char * ) "httpd", lwipBASIC_SERVER_STACK_SIZE );
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258 sys_thread_new( vBasicWEBServer, ( void * ) NULL, basicwebWEBSERVER_PRIORITY );
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259 sys_set_default_state();
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262 /* Start the scheduler.
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264 NOTE : Tasks run in system mode and the scheduler runs in Supervisor mode.
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265 The processor MUST be in supervisor mode when vTaskStartScheduler is
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266 called. The demo applications included in the FreeRTOS.org download switch
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267 to supervisor mode prior to main being called. If you are not using one of
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268 these demo application projects then ensure Supervisor mode is used here. */
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270 vTaskStartScheduler();
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272 /* We should never get here as control is now taken by the scheduler. */
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275 /*-----------------------------------------------------------*/
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277 static void prvSetupHardware( void )
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279 /* Configuration taken from the ST code.
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281 Set Flash banks size & address */
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282 FMI_BankRemapConfig( 4, 2, 0, 0x80000 );
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284 /* FMI Waite States */
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285 FMI_Config( FMI_READ_WAIT_STATE_2, FMI_WRITE_WAIT_STATE_0, FMI_PWD_ENABLE, FMI_LVD_ENABLE, FMI_FREQ_HIGH );
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287 /* Configure the FPLL = 96MHz, and APB to 48MHz. */
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288 SCU_PCLKDivisorConfig( SCU_PCLK_Div2 );
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289 SCU_PLLFactorsConfig( 192, 25, 2 );
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290 SCU_PLLCmd( ENABLE );
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291 SCU_MCLKSourceConfig( SCU_MCLK_PLL );
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293 WDG_Cmd( DISABLE );
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296 /* GPIO8 clock source enable, used by the LCD. */
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297 SCU_APBPeriphClockConfig(__GPIO8, ENABLE);
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298 GPIO_DeInit(GPIO8);
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300 /* GPIO 9 clock source enable, used by the LCD. */
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301 SCU_APBPeriphClockConfig(__GPIO9, ENABLE);
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302 GPIO_DeInit(GPIO9);
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304 /* Enable VIC clock */
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305 SCU_AHBPeriphClockConfig(__VIC, ENABLE);
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306 SCU_AHBPeriphReset(__VIC, DISABLE);
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308 /* Peripheral initialisation. */
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309 vParTestInitialise();
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311 /*-----------------------------------------------------------*/
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313 static void vErrorChecks( void *pvParameters )
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315 static char cCheckVal[ mainMAX_FLAG_STRING_LEN ];
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316 char *pcFlagString;
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317 xLCDMessage xMessageToSend;
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318 portTickType xLastWakeTime;
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319 char *pcStringsToDisplay[] = {
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320 "Check status flag"
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323 /* The parameters are not used in this task. */
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324 ( void ) pvParameters;
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326 pcFlagString = &cCheckVal[ 0 ];
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328 /* Initialise xLastWakeTime to ensure the first call to vTaskDelayUntil()
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329 functions correctly. */
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330 xLastWakeTime = xTaskGetTickCount();
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332 /* Cycle for ever, delaying then checking all the other tasks are still
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333 operating without error. */
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336 /* Delay until it is time to execute again. */
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337 vTaskDelayUntil( &xLastWakeTime, mainCHECK_PERIOD );
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339 /* Check all the other tasks to see if the error flag needs updating. */
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340 prvCheckOtherTasksAreStillRunning();
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342 /* Create a string indicating the error flag status. */
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343 sprintf( cCheckVal, "equals 0x%x ", ulErrorFlags );
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344 xMessageToSend.xRow = Line2;
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346 /* Send the first part of the message to the LCD task. */
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347 xMessageToSend.ppcMessageToDisplay = &pcStringsToDisplay[ 0 ];
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348 xQueueSend( xLCDQueue, ( void * ) &xMessageToSend, 0 );
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349 vTaskDelay( mainSTRING_WRITE_DELAY );
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351 /* Send the second part of the message to the LCD task. */
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352 xMessageToSend.ppcMessageToDisplay = &pcFlagString;
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353 xQueueSend( xLCDQueue, ( void * ) &xMessageToSend, 0 );
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356 /*-----------------------------------------------------------*/
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358 static void prvCheckOtherTasksAreStillRunning( void )
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360 if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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362 ulErrorFlags |= 0x01;
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365 if( xArePollingQueuesStillRunning() != pdTRUE )
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367 ulErrorFlags |= 0x02;
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370 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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372 ulErrorFlags |= 0x04;
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375 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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377 ulErrorFlags |= 0x08;
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380 if( xAreComTestTasksStillRunning() != pdTRUE )
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382 ulErrorFlags |= 0x10;
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385 if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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387 ulErrorFlags |= 0x20;
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390 if( xAreMathsTaskStillRunning() != pdTRUE )
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392 ulErrorFlags |= 0x40;
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395 if( xAreGenericQueueTasksStillRunning() != pdTRUE )
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397 ulErrorFlags |= 0x80;
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400 if( xAreQueuePeekTasksStillRunning() != pdTRUE )
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402 ulErrorFlags |= 0x100;
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406 /*-----------------------------------------------------------*/
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408 static void prvLCDMessageTask( void * pvParameters )
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410 xQueueHandle *pxLCDQueue;
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411 xLCDMessage xMessageToSend;
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412 portBASE_TYPE xIndex = 0;
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414 /* The strings that are written to the LCD. */
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415 char *pcStringsToDisplay[] = {
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419 "www.FreeRTOS.org",
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424 /* To test the parameter passing mechanism, the queue on which messages are
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425 posted is passed in as a parameter even though it is available as a file
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426 scope variable anyway. */
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427 pxLCDQueue = ( xQueueHandle * ) pvParameters;
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431 /* Wait until it is time to move onto the next string. */
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432 vTaskDelay( mainSTRING_WRITE_DELAY );
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434 /* Configure the message object to send to the LCD task. */
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435 xMessageToSend.ppcMessageToDisplay = &pcStringsToDisplay[ xIndex ];
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436 xMessageToSend.xRow = Line1;
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438 /* Post the message to be displayed. */
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439 xQueueSend( *pxLCDQueue, ( void * ) &xMessageToSend, 0 );
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441 /* Move onto the next message, wrapping when necessary. */
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443 if( *( pcStringsToDisplay[ xIndex ] ) == 0x00 )
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447 /* Delay longer before going back to the start of the messages. */
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448 vTaskDelay( mainSTRING_WRITE_DELAY * 2 );
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452 /*-----------------------------------------------------------*/
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454 void prvLCDTask( void * pvParameters )
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456 xQueueHandle *pxLCDQueue;
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457 xLCDMessage xReceivedMessage;
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460 /* To test the parameter passing mechanism, the queue on which messages are
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461 received is passed in as a parameter even though it is available as a file
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462 scope variable anyway. */
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463 pxLCDQueue = ( xQueueHandle * ) pvParameters;
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469 /* Wait for a message to arrive. */
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470 if( xQueueReceive( *pxLCDQueue, &xReceivedMessage, portMAX_DELAY ) )
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472 /* Where is the string we are going to display? */
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473 pcString = *xReceivedMessage.ppcMessageToDisplay;
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474 LCD_DisplayString(xReceivedMessage.xRow, pcString, BlackText);
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476 /* The delay here is just to ensure the LCD task does not starve
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477 out lower priority tasks as writing to the LCD can take a long
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479 vTaskDelay( mainLCD_DELAY );
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483 /*-----------------------------------------------------------*/
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