2 FreeRTOS.org V4.8.0 - 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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27 ***************************************************************************
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29 * SAVE TIME AND MONEY! Why not get us to quote to get FreeRTOS.org *
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30 * running on your hardware - or even write all or part of your application*
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31 * for you? See http://www.OpenRTOS.com for details. *
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33 ***************************************************************************
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34 ***************************************************************************
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36 Please ensure to read the configuration and relevant port sections of the
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37 online documentation.
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39 http://www.FreeRTOS.org - Documentation, latest information, license and
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42 http://www.SafeRTOS.com - A version that is certified for use in safety
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45 http://www.OpenRTOS.com - Commercial support, development, porting,
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46 licensing and training services.
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51 * Creates all the demo application tasks, then starts the scheduler. The WEB
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52 * documentation provides more details of the standard demo application tasks.
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53 * In addition to the standard demo tasks, the following tasks and tests are
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54 * defined and/or created within this file:
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56 * "Fast Interrupt Test" - A high frequency periodic interrupt is generated
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57 * using a free running timer to demonstrate the use of the
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58 * configKERNEL_INTERRUPT_PRIORITY configuration constant. The interrupt
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59 * service routine measures the number of processor clocks that occur between
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60 * each interrupt - and in so doing measures the jitter in the interrupt timing.
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61 * The maximum measured jitter time is latched in the ulMaxJitter variable, and
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62 * displayed on the OLED display by the 'OLED' task as described below. The
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63 * fast interrupt is configured and handled in the timertest.c source file.
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65 * "OLED" task - the OLED task is a 'gatekeeper' task. It is the only task that
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66 * is permitted to access the display directly. Other tasks wishing to write a
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67 * message to the OLED send the message on a queue to the OLED task instead of
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68 * accessing the OLED themselves. The OLED task just blocks on the queue waiting
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69 * for messages - waking and displaying the messages as they arrive.
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71 * "Check" hook - This only executes every five seconds from the tick hook.
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72 * Its main function is to check that all the standard demo tasks are still
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73 * operational. Should any unexpected behaviour within a demo task be discovered
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74 * the tick hook will write an error to the OLED (via the OLED task). If all the
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75 * demo tasks are executing with their expected behaviour then the check task
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76 * writes PASS to the OLED (again via the OLED task), as described above.
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78 * "uIP" task - This is the task that handles the uIP stack. All TCP/IP
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79 * processing is performed in this task.
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84 /* Standard includes. */
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87 /* Scheduler includes. */
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88 #include "FreeRTOS.h"
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93 /* Demo app includes. */
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96 #include "integer.h"
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97 #include "blocktim.h"
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99 #include "partest.h"
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100 #include "semtest.h"
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102 #include "lcd_message.h"
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103 #include "bitmap.h"
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104 #include "GenQTest.h"
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107 /* Hardware library includes. */
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108 #include "hw_memmap.h"
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109 #include "hw_types.h"
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110 #include "hw_sysctl.h"
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111 #include "sysctl.h"
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113 #include "rit128x96x4.h"
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114 #include "osram128x64x4.h"
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116 /*-----------------------------------------------------------*/
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118 /* The time between cycles of the 'check' functionality (defined within the
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120 #define mainCHECK_DELAY ( ( portTickType ) 5000 / portTICK_RATE_MS )
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122 /* Size of the stack allocated to the uIP task. */
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123 #define mainBASIC_WEB_STACK_SIZE ( configMINIMAL_STACK_SIZE * 3 )
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125 /* The OLED task uses the sprintf function so requires a little more stack too. */
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126 #define mainOLED_TASK_STACK_SIZE ( configMINIMAL_STACK_SIZE + 50 )
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128 /* Task priorities. */
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129 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
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130 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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131 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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132 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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133 #define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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134 #define mainINTEGER_TASK_PRIORITY ( tskIDLE_PRIORITY )
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135 #define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )
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137 /* The maximum number of message that can be waiting for display at any one
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139 #define mainOLED_QUEUE_SIZE ( 3 )
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141 /* Dimensions the buffer into which the jitter time is written. */
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142 #define mainMAX_MSG_LEN 25
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144 /* The period of the system clock in nano seconds. This is used to calculate
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145 the jitter time in nano seconds. */
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146 #define mainNS_PER_CLOCK ( ( unsigned portLONG ) ( ( 1.0 / ( double ) configCPU_CLOCK_HZ ) * 1000000000.0 ) )
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148 /* Constants used when writing strings to the display. */
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149 #define mainCHARACTER_HEIGHT ( 9 )
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150 #define mainMAX_ROWS_96 ( mainCHARACTER_HEIGHT * 10 )
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151 #define mainMAX_ROWS_64 ( mainCHARACTER_HEIGHT * 7 )
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152 #define mainFULL_SCALE ( 15 )
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153 #define ulSSI_FREQUENCY ( 3500000UL )
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155 /*-----------------------------------------------------------*/
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158 * The task that handles the uIP stack. All TCP/IP processing is performed in
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161 extern void vuIP_Task( void *pvParameters );
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164 * The display is written two by more than one task so is controlled by a
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165 * 'gatekeeper' task. This is the only task that is actually permitted to
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166 * access the display directly. Other tasks wanting to display a message send
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167 * the message to the gatekeeper.
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169 static void vOLEDTask( void *pvParameters );
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172 * Configure the hardware for the demo.
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174 static void prvSetupHardware( void );
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177 * Configures the high frequency timers - those used to measure the timing
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178 * jitter while the real time kernel is executing.
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180 extern void vSetupTimer( void );
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182 /*-----------------------------------------------------------*/
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184 /* The queue used to send messages to the OLED task. */
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185 xQueueHandle xOLEDQueue;
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187 /* The welcome text. */
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188 const portCHAR * const pcWelcomeMessage = " www.FreeRTOS.org";
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190 /*-----------------------------------------------------------*/
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194 prvSetupHardware();
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196 /* Create the queue used by the OLED task. Messages for display on the OLED
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197 are received via this queue. */
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198 xOLEDQueue = xQueueCreate( mainOLED_QUEUE_SIZE, sizeof( xOLEDMessage ) );
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200 /* Create the uIP task if running on a processor that includes a MAC and
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202 if( SysCtlPeripheralPresent( SYSCTL_PERIPH_ETH ) )
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204 xTaskCreate( vuIP_Task, ( signed portCHAR * ) "uIP", mainBASIC_WEB_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY - 1, NULL );
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207 /* Start the standard demo tasks. */
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208 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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209 vCreateBlockTimeTasks();
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210 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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211 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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212 vStartIntegerMathTasks( mainINTEGER_TASK_PRIORITY );
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213 vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
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214 vStartQueuePeekTasks();
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216 /* Start the tasks defined within this file/specific to this demo. */
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217 xTaskCreate( vOLEDTask, ( signed portCHAR * ) "OLED", mainOLED_TASK_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
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219 /* The suicide tasks must be created last as they need to know how many
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220 tasks were running prior to their creation in order to ascertain whether
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221 or not the correct/expected number of tasks are running at any given time. */
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222 vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
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224 /* Configure the high frequency interrupt used to measure the interrupt
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225 jitter time. The Keil port does not yet include the
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226 configKERNEL_INTERRUPT_PRIORITY functionality so cannot perform this test. */
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229 /* Start the scheduler. */
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230 vTaskStartScheduler();
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232 /* Will only get here if there was insufficient memory to create the idle
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236 /*-----------------------------------------------------------*/
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238 void prvSetupHardware( void )
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240 /* If running on Rev A2 silicon, turn the LDO voltage up to 2.75V. This is
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241 a workaround to allow the PLL to operate reliably. */
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242 if( DEVICE_IS_REVA2 )
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244 SysCtlLDOSet( SYSCTL_LDO_2_75V );
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247 /* Set the clocking to run from the PLL at 50 MHz */
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248 SysCtlClockSet( SYSCTL_SYSDIV_4 | SYSCTL_USE_PLL | SYSCTL_OSC_MAIN | SYSCTL_XTAL_8MHZ );
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250 /* Enable Port F for Ethernet LEDs
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252 LED1 Bit 2 Output */
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253 SysCtlPeripheralEnable( SYSCTL_PERIPH_GPIOF );
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254 GPIODirModeSet( GPIO_PORTF_BASE, (GPIO_PIN_2 | GPIO_PIN_3), GPIO_DIR_MODE_HW );
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255 GPIOPadConfigSet( GPIO_PORTF_BASE, (GPIO_PIN_2 | GPIO_PIN_3 ), GPIO_STRENGTH_2MA, GPIO_PIN_TYPE_STD );
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257 vParTestInitialise();
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259 /*-----------------------------------------------------------*/
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261 void vApplicationTickHook( void )
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263 static xOLEDMessage xMessage = { "PASS" };
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264 static unsigned portLONG ulTicksSinceLastDisplay = 0;
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266 /* Called from every tick interrupt. Have enough ticks passed to make it
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267 time to perform our health status check again? */
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268 ulTicksSinceLastDisplay++;
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269 if( ulTicksSinceLastDisplay >= mainCHECK_DELAY )
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271 ulTicksSinceLastDisplay = 0;
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273 /* Has an error been found in any task? */
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274 if( xAreGenericQueueTasksStillRunning() != pdTRUE )
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276 xMessage.pcMessage = "ERROR IN GEN Q";
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278 else if( xAreQueuePeekTasksStillRunning() != pdTRUE )
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280 xMessage.pcMessage = "ERROR IN PEEK Q";
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282 else if( xAreBlockingQueuesStillRunning() != pdTRUE )
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284 xMessage.pcMessage = "ERROR IN BLOCK Q";
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286 else if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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288 xMessage.pcMessage = "ERROR IN BLOCK TIME";
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290 else if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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292 xMessage.pcMessage = "ERROR IN SEMAPHORE";
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294 else if( xArePollingQueuesStillRunning() != pdTRUE )
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296 xMessage.pcMessage = "ERROR IN POLL Q";
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298 else if( xIsCreateTaskStillRunning() != pdTRUE )
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300 xMessage.pcMessage = "ERROR IN CREATE";
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302 else if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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304 xMessage.pcMessage = "ERROR IN MATH";
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307 /* Send the message to the OLED gatekeeper for display. */
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308 xQueueSendFromISR( xOLEDQueue, &xMessage, pdFALSE );
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311 /*-----------------------------------------------------------*/
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313 void vOLEDTask( void *pvParameters )
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315 xOLEDMessage xMessage;
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316 unsigned portLONG ulY, ulMaxY;
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317 static portCHAR cMessage[ mainMAX_MSG_LEN ];
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318 extern unsigned portLONG ulMaxJitter;
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320 /* Functions to access the OLED. The one used depends on the dev kit
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322 void ( *vOLEDInit )( unsigned portLONG );
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323 void ( *vOLEDStringDraw )( const portCHAR *, unsigned portLONG, unsigned portLONG, unsigned portCHAR );
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324 void ( *vOLEDImageDraw )( const unsigned portCHAR *, unsigned portLONG, unsigned portLONG, unsigned portLONG, unsigned portLONG );
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325 void ( *vOLEDClear )( void );
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327 /* Map the OLED access functions to the driver functions that are appropriate
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328 for the evaluation kit being used. */
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329 switch( HWREG( SYSCTL_DID1 ) & SYSCTL_DID1_PRTNO_MASK )
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331 case SYSCTL_DID1_PRTNO_6965 :
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332 case SYSCTL_DID1_PRTNO_2965 : vOLEDInit = OSRAM128x64x4Init;
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333 vOLEDStringDraw = OSRAM128x64x4StringDraw;
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334 vOLEDImageDraw = OSRAM128x64x4ImageDraw;
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335 vOLEDClear = OSRAM128x64x4Clear;
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336 ulMaxY = mainMAX_ROWS_64;
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339 default : vOLEDInit = RIT128x96x4Init;
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340 vOLEDStringDraw = RIT128x96x4StringDraw;
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341 vOLEDImageDraw = RIT128x96x4ImageDraw;
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342 vOLEDClear = RIT128x96x4Clear;
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343 ulMaxY = mainMAX_ROWS_96;
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349 /* Initialise the OLED and display a startup message. */
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350 vOLEDInit( ulSSI_FREQUENCY );
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351 vOLEDStringDraw( " POWERED BY FreeRTOS", 0, 0, mainFULL_SCALE );
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352 vOLEDImageDraw( pucImage, 0, mainCHARACTER_HEIGHT + 1, bmpBITMAP_WIDTH, bmpBITMAP_HEIGHT );
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356 /* Wait for a message to arrive that requires displaying. */
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357 xQueueReceive( xOLEDQueue, &xMessage, portMAX_DELAY );
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359 /* Write the message on the next available row. */
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360 ulY += mainCHARACTER_HEIGHT;
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361 if( ulY >= ulMaxY )
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363 ulY = mainCHARACTER_HEIGHT;
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365 vOLEDStringDraw( pcWelcomeMessage, 0, 0, mainFULL_SCALE );
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368 /* Display the message along with the maximum jitter time from the
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369 high priority time test. */
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370 sprintf( cMessage, "%s [%uns]", xMessage.pcMessage, ulMaxJitter * mainNS_PER_CLOCK );
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371 vOLEDStringDraw( cMessage, 0, ulY, mainFULL_SCALE );
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