2 FreeRTOS V6.0.5 - Copyright (C) 2010 Real Time Engineers Ltd.
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4 ***************************************************************************
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8 * + New to FreeRTOS, *
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9 * + Wanting to learn FreeRTOS or multitasking in general quickly *
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10 * + Looking for basic training, *
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11 * + Wanting to improve your FreeRTOS skills and productivity *
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13 * then take a look at the FreeRTOS eBook *
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15 * "Using the FreeRTOS Real Time Kernel - a Practical Guide" *
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16 * http://www.FreeRTOS.org/Documentation *
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18 * A pdf reference manual is also available. Both are usually delivered *
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19 * to your inbox within 20 minutes to two hours when purchased between 8am *
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20 * and 8pm GMT (although please allow up to 24 hours in case of *
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21 * exceptional circumstances). Thank you for your support! *
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23 ***************************************************************************
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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 exception to the GPL is included to allow you to distribute
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31 a combined work that includes FreeRTOS without being obliged to provide the
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32 source code for proprietary components outside of the FreeRTOS kernel.
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33 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT
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34 ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
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35 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 http://www.FreeRTOS.org - Documentation, latest information, license and
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47 http://www.SafeRTOS.com - A version that is certified for use in safety
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50 http://www.OpenRTOS.com - Commercial support, development, porting,
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51 licensing and training services.
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56 * Creates all the demo application tasks, then starts the scheduler. The WEB
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57 * documentation provides more details of the standard demo application tasks.
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58 * In addition to the standard demo tasks, the following tasks and tests are
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59 * defined and/or created within this file:
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61 * "Fast Interrupt Test" - A high frequency periodic interrupt is generated
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62 * using a free running timer to demonstrate the use of the
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63 * configKERNEL_INTERRUPT_PRIORITY configuration constant. The interrupt
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64 * service routine measures the number of processor clocks that occur between
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65 * each interrupt - and in so doing measures the jitter in the interrupt timing.
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66 * The maximum measured jitter time is latched in the ulMaxJitter variable, and
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67 * displayed on the OLED display by the 'OLED' task as described below. The
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68 * fast interrupt is configured and handled in the timertest.c source file.
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70 * "OLED" task - the OLED task is a 'gatekeeper' task. It is the only task that
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71 * is permitted to access the display directly. Other tasks wishing to write a
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72 * message to the OLED send the message on a queue to the OLED task instead of
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73 * accessing the OLED themselves. The OLED task just blocks on the queue waiting
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74 * for messages - waking and displaying the messages as they arrive.
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76 * "Check" hook - This only executes every five seconds from the tick hook.
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77 * Its main function is to check that all the standard demo tasks are still
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78 * operational. Should any unexpected behaviour within a demo task be discovered
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79 * the tick hook will write an error to the OLED (via the OLED task). If all the
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80 * demo tasks are executing with their expected behaviour then the check task
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81 * writes PASS to the OLED (again via the OLED task), as described above.
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83 * "uIP" task - This is the task that handles the uIP stack. All TCP/IP
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84 * processing is performed in this task.
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90 /*************************************************************************
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91 * Please ensure to read http://www.freertos.org/portLM3Sxxxx_Eclipse.html
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92 * which provides information on configuring and running this demo for the
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93 * various Luminary Micro EKs.
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94 *************************************************************************/
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99 /* Standard includes. */
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102 /* Scheduler includes. */
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103 #include "FreeRTOS.h"
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106 #include "semphr.h"
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108 /* Hardware library includes. */
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109 #include "hw_memmap.h"
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110 #include "hw_types.h"
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111 #include "hw_sysctl.h"
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112 #include "sysctl.h"
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115 #include "rit128x96x4.h"
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116 #include "osram128x64x4.h"
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117 #include "formike128x128x16.h"
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119 /* Demo app includes. */
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120 #include "BlockQ.h"
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122 #include "integer.h"
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123 #include "blocktim.h"
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125 #include "partest.h"
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126 #include "semtest.h"
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128 #include "lcd_message.h"
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129 #include "bitmap.h"
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130 #include "GenQTest.h"
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132 #include "recmutex.h"
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133 #include "IntQueue.h"
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135 /*-----------------------------------------------------------*/
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137 /* The time between cycles of the 'check' functionality (defined within the
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139 #define mainCHECK_DELAY ( ( portTickType ) 5000 / portTICK_RATE_MS )
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141 /* Size of the stack allocated to the uIP task. */
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142 #define mainBASIC_WEB_STACK_SIZE ( configMINIMAL_STACK_SIZE * 3 )
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144 /* The OLED task uses the sprintf function so requires a little more stack too. */
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145 #define mainOLED_TASK_STACK_SIZE ( configMINIMAL_STACK_SIZE + 50 )
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147 /* Task priorities. */
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148 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
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149 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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150 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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151 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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152 #define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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153 #define mainINTEGER_TASK_PRIORITY ( tskIDLE_PRIORITY )
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154 #define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )
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156 /* The maximum number of message that can be waiting for display at any one
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158 #define mainOLED_QUEUE_SIZE ( 3 )
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160 /* Dimensions the buffer into which the jitter time is written. */
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161 #define mainMAX_MSG_LEN 25
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163 /* The period of the system clock in nano seconds. This is used to calculate
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164 the jitter time in nano seconds. */
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165 #define mainNS_PER_CLOCK ( ( unsigned long ) ( ( 1.0 / ( double ) configCPU_CLOCK_HZ ) * 1000000000.0 ) )
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167 /* Constants used when writing strings to the display. */
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168 #define mainCHARACTER_HEIGHT ( 9 )
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169 #define mainMAX_ROWS_128 ( mainCHARACTER_HEIGHT * 14 )
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170 #define mainMAX_ROWS_96 ( mainCHARACTER_HEIGHT * 10 )
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171 #define mainMAX_ROWS_64 ( mainCHARACTER_HEIGHT * 7 )
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172 #define mainFULL_SCALE ( 15 )
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173 #define ulSSI_FREQUENCY ( 3500000UL )
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175 /*-----------------------------------------------------------*/
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178 * The task that handles the uIP stack. All TCP/IP processing is performed in
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181 extern void vuIP_Task( void *pvParameters );
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184 * The display is written two by more than one task so is controlled by a
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185 * 'gatekeeper' task. This is the only task that is actually permitted to
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186 * access the display directly. Other tasks wanting to display a message send
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187 * the message to the gatekeeper.
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189 static void vOLEDTask( void *pvParameters );
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192 * Configure the hardware for the demo.
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194 static void prvSetupHardware( void );
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197 * Configures the high frequency timers - those used to measure the timing
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198 * jitter while the real time kernel is executing.
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200 extern void vSetupHighFrequencyTimer( void );
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203 * The idle hook is used to run a test of the scheduler context switch
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206 void vApplicationIdleHook( void ) __attribute__((naked));
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207 /*-----------------------------------------------------------*/
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209 /* The queue used to send messages to the OLED task. */
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210 xQueueHandle xOLEDQueue;
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212 /* The welcome text. */
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213 const char * const pcWelcomeMessage = " www.FreeRTOS.org";
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215 /* Variables used to detect the test in the idle hook failing. */
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216 unsigned long ulIdleError = pdFALSE;
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218 /*-----------------------------------------------------------*/
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220 /*************************************************************************
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221 * Please ensure to read http://www.freertos.org/portLM3Sxxxx_Eclipse.html
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222 * which provides information on configuring and running this demo for the
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223 * various Luminary Micro EKs.
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224 *************************************************************************/
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227 prvSetupHardware();
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229 /* Create the queue used by the OLED task. Messages for display on the OLED
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230 are received via this queue. */
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231 xOLEDQueue = xQueueCreate( mainOLED_QUEUE_SIZE, sizeof( xOLEDMessage ) );
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233 /* Create the uIP task if running on a processor that includes a MAC and
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235 if( SysCtlPeripheralPresent( SYSCTL_PERIPH_ETH ) )
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237 xTaskCreate( vuIP_Task, ( signed char * ) "uIP", mainBASIC_WEB_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY - 1, NULL );
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240 /* Start the standard demo tasks. */
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241 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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242 vCreateBlockTimeTasks();
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243 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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244 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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245 vStartIntegerMathTasks( mainINTEGER_TASK_PRIORITY );
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246 vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
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247 vStartQueuePeekTasks();
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248 vStartRecursiveMutexTasks();
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249 vStartInterruptQueueTasks();
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251 /* Start the tasks defined within this file/specific to this demo. */
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252 xTaskCreate( vOLEDTask, ( signed char * ) "OLED", mainOLED_TASK_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
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254 /* The suicide tasks must be created last as they need to know how many
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255 tasks were running prior to their creation in order to ascertain whether
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256 or not the correct/expected number of tasks are running at any given time. */
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257 vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
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259 /* Configure the high frequency interrupt used to measure the interrupt
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261 vSetupHighFrequencyTimer();
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263 /* Start the scheduler. */
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264 vTaskStartScheduler();
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266 /* Will only get here if there was insufficient memory to create the idle
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271 /*-----------------------------------------------------------*/
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273 void prvSetupHardware( void )
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275 /* If running on Rev A2 silicon, turn the LDO voltage up to 2.75V. This is
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276 a workaround to allow the PLL to operate reliably. */
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277 if( DEVICE_IS_REVA2 )
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279 SysCtlLDOSet( SYSCTL_LDO_2_75V );
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282 /* Set the clocking to run from the PLL at 50 MHz */
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283 SysCtlClockSet( SYSCTL_SYSDIV_4 | SYSCTL_USE_PLL | SYSCTL_OSC_MAIN | SYSCTL_XTAL_8MHZ );
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285 /* Enable Port F for Ethernet LEDs
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287 LED1 Bit 2 Output */
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288 SysCtlPeripheralEnable( SYSCTL_PERIPH_GPIOF );
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289 GPIODirModeSet( GPIO_PORTF_BASE, (GPIO_PIN_2 | GPIO_PIN_3), GPIO_DIR_MODE_HW );
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290 GPIOPadConfigSet( GPIO_PORTF_BASE, (GPIO_PIN_2 | GPIO_PIN_3 ), GPIO_STRENGTH_2MA, GPIO_PIN_TYPE_STD );
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292 vParTestInitialise();
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294 /*-----------------------------------------------------------*/
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296 void vApplicationTickHook( void )
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298 static xOLEDMessage xMessage = { "PASS" };
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299 static unsigned long ulTicksSinceLastDisplay = 0;
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300 portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
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302 /* Called from every tick interrupt. Have enough ticks passed to make it
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303 time to perform our health status check again? */
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304 ulTicksSinceLastDisplay++;
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305 if( ulTicksSinceLastDisplay >= mainCHECK_DELAY )
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307 ulTicksSinceLastDisplay = 0;
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309 /* Has an error been found in any task? */
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310 if( xAreGenericQueueTasksStillRunning() != pdTRUE )
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312 xMessage.pcMessage = "ERROR IN GEN Q";
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314 else if( xAreQueuePeekTasksStillRunning() != pdTRUE )
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316 xMessage.pcMessage = "ERROR IN PEEK Q";
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318 else if( xAreBlockingQueuesStillRunning() != pdTRUE )
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320 xMessage.pcMessage = "ERROR IN BLOCK Q";
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322 else if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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324 xMessage.pcMessage = "ERROR IN BLOCK TIME";
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326 else if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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328 xMessage.pcMessage = "ERROR IN SEMAPHORE";
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330 else if( xArePollingQueuesStillRunning() != pdTRUE )
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332 xMessage.pcMessage = "ERROR IN POLL Q";
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334 else if( xIsCreateTaskStillRunning() != pdTRUE )
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336 xMessage.pcMessage = "ERROR IN CREATE";
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338 else if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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340 xMessage.pcMessage = "ERROR IN MATH";
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342 else if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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344 xMessage.pcMessage = "ERROR IN REC MUTEX";
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346 else if( ulIdleError != pdFALSE )
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348 xMessage.pcMessage = "ERROR IN HOOK";
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350 else if( xAreIntQueueTasksStillRunning() != pdTRUE )
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352 xMessage.pcMessage = "ERROR IN INT QUEUE";
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356 /* Send the message to the OLED gatekeeper for display. */
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357 xHigherPriorityTaskWoken = pdFALSE;
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358 xQueueSendFromISR( xOLEDQueue, &xMessage, &xHigherPriorityTaskWoken );
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361 /*-----------------------------------------------------------*/
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363 void vOLEDTask( void *pvParameters )
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365 xOLEDMessage xMessage;
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366 unsigned long ulY, ulMaxY;
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367 static char cMessage[ mainMAX_MSG_LEN ];
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368 extern volatile unsigned long ulMaxJitter;
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369 unsigned portBASE_TYPE uxUnusedStackOnEntry, uxUnusedStackNow;
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370 const unsigned char *pucImage;
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372 /* Functions to access the OLED. The one used depends on the dev kit
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374 void ( *vOLEDInit )( unsigned long ) = NULL;
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375 void ( *vOLEDStringDraw )( const char *, unsigned long, unsigned long, unsigned char ) = NULL;
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376 void ( *vOLEDImageDraw )( const unsigned char *, unsigned long, unsigned long, unsigned long, unsigned long ) = NULL;
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377 void ( *vOLEDClear )( void ) = NULL;
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379 /* Just for demo purposes. */
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380 uxUnusedStackOnEntry = uxTaskGetStackHighWaterMark( NULL );
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382 /* Map the OLED access functions to the driver functions that are appropriate
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383 for the evaluation kit being used. */
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384 switch( HWREG( SYSCTL_DID1 ) & SYSCTL_DID1_PRTNO_MASK )
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386 case SYSCTL_DID1_PRTNO_6965 :
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387 case SYSCTL_DID1_PRTNO_2965 : vOLEDInit = OSRAM128x64x4Init;
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388 vOLEDStringDraw = OSRAM128x64x4StringDraw;
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389 vOLEDImageDraw = OSRAM128x64x4ImageDraw;
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390 vOLEDClear = OSRAM128x64x4Clear;
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391 ulMaxY = mainMAX_ROWS_64;
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392 pucImage = pucBasicBitmap;
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395 case SYSCTL_DID1_PRTNO_1968 :
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396 case SYSCTL_DID1_PRTNO_8962 : vOLEDInit = RIT128x96x4Init;
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397 vOLEDStringDraw = RIT128x96x4StringDraw;
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398 vOLEDImageDraw = RIT128x96x4ImageDraw;
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399 vOLEDClear = RIT128x96x4Clear;
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400 ulMaxY = mainMAX_ROWS_96;
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401 pucImage = pucBasicBitmap;
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404 default : vOLEDInit = vFormike128x128x16Init;
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405 vOLEDStringDraw = vFormike128x128x16StringDraw;
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406 vOLEDImageDraw = vFormike128x128x16ImageDraw;
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407 vOLEDClear = vFormike128x128x16Clear;
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408 ulMaxY = mainMAX_ROWS_128;
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409 pucImage = pucGrLibBitmap;
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415 /* Initialise the OLED and display a startup message. */
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416 vOLEDInit( ulSSI_FREQUENCY );
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417 vOLEDStringDraw( "POWERED BY FreeRTOS", 0, 0, mainFULL_SCALE );
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418 vOLEDImageDraw( pucImage, 0, mainCHARACTER_HEIGHT + 1, bmpBITMAP_WIDTH, bmpBITMAP_HEIGHT );
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422 /* Wait for a message to arrive that requires displaying. */
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423 xQueueReceive( xOLEDQueue, &xMessage, portMAX_DELAY );
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425 /* Write the message on the next available row. */
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426 ulY += mainCHARACTER_HEIGHT;
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427 if( ulY >= ulMaxY )
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429 ulY = mainCHARACTER_HEIGHT;
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431 vOLEDStringDraw( pcWelcomeMessage, 0, 0, mainFULL_SCALE );
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434 /* Display the message along with the maximum jitter time from the
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435 high priority time test. */
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436 sprintf( cMessage, "%s [%uns]", xMessage.pcMessage, ulMaxJitter * mainNS_PER_CLOCK );
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437 vOLEDStringDraw( cMessage, 0, ulY, mainFULL_SCALE );
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440 /*-----------------------------------------------------------*/
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442 void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed char *pcTaskName )
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446 /*-----------------------------------------------------------*/
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448 void vApplicationMallocFailedHook( void )
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452 /*-----------------------------------------------------------*/
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454 /* Just to keep the linker happy. */
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455 void __error__( char *pcFilename, unsigned long ulLine )
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460 int uipprintf( const char *fmt, ... )
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