2 FreeRTOS.org V4.7.2 - Copyright (C) 2003-2008 Richard Barry.
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4 This file is part of the FreeRTOS.org distribution.
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6 FreeRTOS.org is free software; you can redistribute it and/or modify
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7 it under the terms of the GNU General Public License as published by
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8 the Free Software Foundation; either version 2 of the License, or
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9 (at your option) any later version.
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11 FreeRTOS.org is distributed in the hope that it will be useful,
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12 but WITHOUT ANY WARRANTY; without even the implied warranty of
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13 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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14 GNU General Public License for more details.
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16 You should have received a copy of the GNU General Public License
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17 along with FreeRTOS.org; if not, write to the Free Software
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18 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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20 A special exception to the GPL can be applied should you wish to distribute
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21 a combined work that includes FreeRTOS.org, without being obliged to provide
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22 the source code for any proprietary components. See the licensing section
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23 of http://www.FreeRTOS.org for full details of how and when the exception
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26 ***************************************************************************
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28 Please ensure to read the configuration and relevant port sections of the
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29 online documentation.
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31 +++ http://www.FreeRTOS.org +++
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32 Documentation, latest information, license and contact details.
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34 +++ http://www.SafeRTOS.com +++
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35 A version that is certified for use in safety critical systems.
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37 +++ http://www.OpenRTOS.com +++
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38 Commercial support, development, porting, licensing and training services.
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40 ***************************************************************************
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45 * Creates all the demo application tasks, then starts the scheduler. The WEB
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46 * documentation provides more details of the standard demo application tasks.
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47 * In addition to the standard demo tasks, the following tasks and tests are
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48 * defined and/or created within this file:
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50 * "Fast Interrupt Test" - A high frequency periodic interrupt is generated
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51 * using a free running timer to demonstrate the use of the
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52 * configKERNEL_INTERRUPT_PRIORITY configuration constant. The interrupt
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53 * service routine measures the number of processor clocks that occur between
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54 * each interrupt - and in so doing measures the jitter in the interrupt timing.
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55 * The maximum measured jitter time is latched in the ulMaxJitter variable, and
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56 * displayed on the OLED display by the 'OLED' task as described below. The
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57 * fast interrupt is configured and handled in the timertest.c source file.
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59 * "OLED" task - the OLED task is a 'gatekeeper' task. It is the only task that
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60 * is permitted to access the display directly. Other tasks wishing to write a
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61 * message to the OLED send the message on a queue to the OLED task instead of
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62 * accessing the OLED themselves. The OLED task just blocks on the queue waiting
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63 * for messages - waking and displaying the messages as they arrive.
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65 * "Check" hook - This only executes every five seconds from the tick hook.
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66 * Its main function is to check that all the standard demo tasks are still
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67 * operational. Should any unexpected behaviour within a demo task be discovered
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68 * the tick hook will write an error to the OLED (via the OLED task). If all the
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69 * demo tasks are executing with their expected behaviour then the check task
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70 * writes PASS to the OLED (again via the OLED task), as described above.
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72 * "uIP" task - This is the task that handles the uIP stack. All TCP/IP
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73 * processing is performed in this task.
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78 /* Standard includes. */
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81 /* Scheduler includes. */
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82 #include "FreeRTOS.h"
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87 /* Demo app includes. */
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90 #include "integer.h"
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91 #include "blocktim.h"
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93 #include "partest.h"
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94 #include "semtest.h"
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96 #include "lcd_message.h"
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98 #include "GenQTest.h"
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101 /* Hardware library includes. */
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102 #include "hw_memmap.h"
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103 #include "hw_types.h"
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104 #include "hw_sysctl.h"
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105 #include "sysctl.h"
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107 #include "rit128x96x4.h"
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108 #include "osram128x64x4.h"
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110 /*-----------------------------------------------------------*/
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112 /* The time between cycles of the 'check' functionality (defined within the
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114 #define mainCHECK_DELAY ( ( portTickType ) 5000 / portTICK_RATE_MS )
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116 /* Size of the stack allocated to the uIP task. */
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117 #define mainBASIC_WEB_STACK_SIZE ( configMINIMAL_STACK_SIZE * 3 )
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119 /* The OLED task uses the sprintf function so requires a little more stack too. */
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120 #define mainOLED_TASK_STACK_SIZE ( configMINIMAL_STACK_SIZE + 50 )
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122 /* Task priorities. */
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123 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
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124 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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125 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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126 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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127 #define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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128 #define mainINTEGER_TASK_PRIORITY ( tskIDLE_PRIORITY )
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129 #define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )
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131 /* The maximum number of message that can be waiting for display at any one
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133 #define mainOLED_QUEUE_SIZE ( 3 )
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135 /* Dimensions the buffer into which the jitter time is written. */
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136 #define mainMAX_MSG_LEN 25
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138 /* The period of the system clock in nano seconds. This is used to calculate
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139 the jitter time in nano seconds. */
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140 #define mainNS_PER_CLOCK ( ( unsigned portLONG ) ( ( 1.0 / ( double ) configCPU_CLOCK_HZ ) * 1000000000.0 ) )
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142 /* Constants used when writing strings to the display. */
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143 #define mainCHARACTER_HEIGHT ( 9 )
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144 #define mainMAX_ROWS_96 ( mainCHARACTER_HEIGHT * 10 )
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145 #define mainMAX_ROWS_64 ( mainCHARACTER_HEIGHT * 7 )
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146 #define mainFULL_SCALE ( 15 )
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147 #define ulSSI_FREQUENCY ( 3500000UL )
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149 /*-----------------------------------------------------------*/
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152 * The task that handles the uIP stack. All TCP/IP processing is performed in
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155 extern void vuIP_Task( void *pvParameters );
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158 * The display is written two by more than one task so is controlled by a
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159 * 'gatekeeper' task. This is the only task that is actually permitted to
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160 * access the display directly. Other tasks wanting to display a message send
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161 * the message to the gatekeeper.
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163 static void vOLEDTask( void *pvParameters );
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166 * Configure the hardware for the demo.
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168 static void prvSetupHardware( void );
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171 * Configures the high frequency timers - those used to measure the timing
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172 * jitter while the real time kernel is executing.
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174 extern void vSetupTimer( void );
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176 /*-----------------------------------------------------------*/
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178 /* The queue used to send messages to the OLED task. */
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179 xQueueHandle xOLEDQueue;
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181 /* The welcome text. */
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182 const portCHAR * const pcWelcomeMessage = " www.FreeRTOS.org";
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184 /*-----------------------------------------------------------*/
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188 prvSetupHardware();
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190 /* Create the queue used by the OLED task. Messages for display on the OLED
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191 are received via this queue. */
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192 xOLEDQueue = xQueueCreate( mainOLED_QUEUE_SIZE, sizeof( xOLEDMessage ) );
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194 /* Create the uIP task if running on a processor that includes a MAC and
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196 if( SysCtlPeripheralPresent( SYSCTL_PERIPH_ETH ) )
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198 xTaskCreate( vuIP_Task, ( signed portCHAR * ) "uIP", mainBASIC_WEB_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY - 1, NULL );
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201 /* Start the standard demo tasks. */
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202 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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203 vCreateBlockTimeTasks();
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204 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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205 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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206 vStartIntegerMathTasks( mainINTEGER_TASK_PRIORITY );
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207 vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
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208 vStartQueuePeekTasks();
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210 /* Start the tasks defined within this file/specific to this demo. */
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211 xTaskCreate( vOLEDTask, ( signed portCHAR * ) "OLED", mainOLED_TASK_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
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213 /* The suicide tasks must be created last as they need to know how many
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214 tasks were running prior to their creation in order to ascertain whether
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215 or not the correct/expected number of tasks are running at any given time. */
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216 vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
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218 /* Configure the high frequency interrupt used to measure the interrupt
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219 jitter time. The Keil port does not yet include the
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220 configKERNEL_INTERRUPT_PRIORITY functionality so cannot perform this test. */
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221 #ifndef RVDS_ARMCM3_LM3S102
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227 /* Start the scheduler. */
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228 vTaskStartScheduler();
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230 /* Will only get here if there was insufficient memory to create the idle
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234 /*-----------------------------------------------------------*/
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236 void prvSetupHardware( void )
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238 /* If running on Rev A2 silicon, turn the LDO voltage up to 2.75V. This is
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239 a workaround to allow the PLL to operate reliably. */
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240 if( DEVICE_IS_REVA2 )
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242 SysCtlLDOSet( SYSCTL_LDO_2_75V );
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245 /* Set the clocking to run from the PLL at 50 MHz */
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246 SysCtlClockSet( SYSCTL_SYSDIV_4 | SYSCTL_USE_PLL | SYSCTL_OSC_MAIN | SYSCTL_XTAL_8MHZ );
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248 /* Enable Port F for Ethernet LEDs
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250 LED1 Bit 2 Output */
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251 SysCtlPeripheralEnable( SYSCTL_PERIPH_GPIOF );
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252 GPIODirModeSet( GPIO_PORTF_BASE, (GPIO_PIN_2 | GPIO_PIN_3), GPIO_DIR_MODE_HW );
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253 GPIOPadConfigSet( GPIO_PORTF_BASE, (GPIO_PIN_2 | GPIO_PIN_3 ), GPIO_STRENGTH_2MA, GPIO_PIN_TYPE_STD );
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255 vParTestInitialise();
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257 /*-----------------------------------------------------------*/
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259 void vApplicationTickHook( void )
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261 static xOLEDMessage xMessage = { "PASS" };
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262 static unsigned portLONG ulTicksSinceLastDisplay = 0;
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264 /* Called from every tick interrupt. Have enough ticks passed to make it
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265 time to perform our health status check again? */
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266 ulTicksSinceLastDisplay++;
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267 if( ulTicksSinceLastDisplay >= mainCHECK_DELAY )
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269 ulTicksSinceLastDisplay = 0;
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271 /* Has an error been found in any task? */
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272 if( xAreGenericQueueTasksStillRunning() != pdTRUE )
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274 xMessage.pcMessage = "ERROR IN GEN Q";
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276 else if( xAreQueuePeekTasksStillRunning() != pdTRUE )
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278 xMessage.pcMessage = "ERROR IN PEEK Q";
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280 else if( xAreBlockingQueuesStillRunning() != pdTRUE )
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282 xMessage.pcMessage = "ERROR IN BLOCK Q";
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284 else if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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286 xMessage.pcMessage = "ERROR IN BLOCK TIME";
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288 else if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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290 xMessage.pcMessage = "ERROR IN SEMAPHORE";
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292 else if( xArePollingQueuesStillRunning() != pdTRUE )
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294 xMessage.pcMessage = "ERROR IN POLL Q";
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296 else if( xIsCreateTaskStillRunning() != pdTRUE )
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298 xMessage.pcMessage = "ERROR IN CREATE";
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300 else if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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302 xMessage.pcMessage = "ERROR IN MATH";
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305 /* Send the message to the OLED gatekeeper for display. */
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306 xQueueSendFromISR( xOLEDQueue, &xMessage, pdFALSE );
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309 /*-----------------------------------------------------------*/
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311 void vOLEDTask( void *pvParameters )
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313 xOLEDMessage xMessage;
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314 unsigned portLONG ulY, ulMaxY;
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315 static portCHAR cMessage[ mainMAX_MSG_LEN ];
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316 extern unsigned portLONG ulMaxJitter;
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318 /* Functions to access the OLED. The one used depends on the dev kit
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320 void ( *vOLEDInit )( unsigned portLONG );
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321 void ( *vOLEDStringDraw )( const portCHAR *, unsigned portLONG, unsigned portLONG, unsigned portCHAR );
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322 void ( *vOLEDImageDraw )( const unsigned portCHAR *, unsigned portLONG, unsigned portLONG, unsigned portLONG, unsigned portLONG );
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323 void ( *vOLEDClear )( void );
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325 /* Map the OLED access functions to the driver functions that are appropriate
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326 for the evaluation kit being used. */
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327 switch( HWREG( SYSCTL_DID1 ) & SYSCTL_DID1_PRTNO_MASK )
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329 case SYSCTL_DID1_PRTNO_6965 :
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330 case SYSCTL_DID1_PRTNO_2965 : vOLEDInit = OSRAM128x64x4Init;
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331 vOLEDStringDraw = OSRAM128x64x4StringDraw;
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332 vOLEDImageDraw = OSRAM128x64x4ImageDraw;
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333 vOLEDClear = OSRAM128x64x4Clear;
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334 ulMaxY = mainMAX_ROWS_64;
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337 default : vOLEDInit = RIT128x96x4Init;
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338 vOLEDStringDraw = RIT128x96x4StringDraw;
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339 vOLEDImageDraw = RIT128x96x4ImageDraw;
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340 vOLEDClear = RIT128x96x4Clear;
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341 ulMaxY = mainMAX_ROWS_96;
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347 /* Initialise the OLED and display a startup message. */
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348 vOLEDInit( ulSSI_FREQUENCY );
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349 vOLEDStringDraw( " POWERED BY FreeRTOS", 0, 0, mainFULL_SCALE );
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350 vOLEDImageDraw( pucImage, 0, mainCHARACTER_HEIGHT + 1, bmpBITMAP_WIDTH, bmpBITMAP_HEIGHT );
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354 /* Wait for a message to arrive that requires displaying. */
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355 xQueueReceive( xOLEDQueue, &xMessage, portMAX_DELAY );
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357 /* Write the message on the next available row. */
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358 ulY += mainCHARACTER_HEIGHT;
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359 if( ulY >= ulMaxY )
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361 ulY = mainCHARACTER_HEIGHT;
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363 vOLEDStringDraw( pcWelcomeMessage, 0, 0, mainFULL_SCALE );
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366 /* Display the message along with the maximum jitter time from the
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367 high priority time test. */
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368 sprintf( cMessage, "%s [%uns]", xMessage.pcMessage, ulMaxJitter * mainNS_PER_CLOCK );
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369 vOLEDStringDraw( cMessage, 0, ulY, mainFULL_SCALE );
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