2 FreeRTOS V7.0.1 - Copyright (C) 2011 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 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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55 * The documentation page for this demo available on http://www.FreeRTOS.org
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56 * documents the hardware configuration required to run this demo. It also
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57 * provides more information on the expected demo application behaviour.
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59 * main() creates all the demo application tasks, then starts the scheduler.
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60 * A lot of the created tasks are from the pool of "standard demo" tasks. The
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61 * web documentation provides more details of the standard demo tasks, which
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62 * provide no particular functionality but do provide good examples of how to
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63 * use the FreeRTOS API.
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65 * In addition to the standard demo tasks, the following tasks, interrupts and
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66 * tests are defined and/or created within this file:
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68 * "LCD" task - The LCD task is a 'gatekeeper' task. It is the only task that
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69 * is permitted to access the LCD and therefore ensures access to the LCD is
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70 * always serialised and there are no mutual exclusion issues. When a task or
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71 * an interrupt wants to write to the LCD, it does not access the LCD directly
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72 * but instead sends the message to the LCD task. The LCD task then performs
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73 * the actual LCD output. This mechanism also allows interrupts to, in effect,
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74 * write to the LCD by sending messages to the LCD task.
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76 * The LCD task is also a demonstration of a 'controller' task design pattern.
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77 * Some tasks do not actually send a string to the LCD task directly, but
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78 * instead send a command that is interpreted by the LCD task. In a normal
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79 * application these commands can be control values or set points, in this
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80 * simple example the commands just result in messages being displayed on the
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83 * "Button Poll" task - This task polls the state of the 'up' key on the
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84 * joystick input device. It uses the vTaskDelay() API function to control
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85 * the poll rate to ensure debouncing is not necessary and that the task does
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86 * not use all the available CPU processing time.
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88 * Button Interrupt and run time stats display - The select button on the
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89 * joystick input device is configured to generate an external interrupt. The
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90 * handler for this interrupt sends a message to LCD task, which interprets the
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91 * message to mean, firstly write a message to the LCD, and secondly, generate
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92 * a table of run time statistics. The run time statistics are displayed as a
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93 * table that contains information on how much processing time each task has
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94 * been allocated since the application started to execute. This information
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95 * is provided both as an absolute time, and as a percentage of the total run
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96 * time. The information is displayed in the terminal IO window of the IAR
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97 * embedded workbench. The online documentation for this demo shows a screen
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98 * shot demonstrating where the run time stats can be viewed.
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100 * Idle Hook - The idle hook is a function that is called on each iteration of
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101 * the idle task. In this case it is used to place the processor into a low
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102 * power mode. Note however that this application is implemented using standard
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103 * components, and is therefore not optimised for low power operation. Lower
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104 * power consumption would be achieved by converting polling tasks into event
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105 * driven tasks, and slowing the tick interrupt frequency.
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107 * "Check" function called from the tick hook - The tick hook is called during
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108 * each tick interrupt. It is called from an interrupt context so must execute
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109 * quickly, not attempt to block, and not call any FreeRTOS API functions that
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110 * do not end in "FromISR". In this case the tick hook executes a 'check'
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111 * function. This only executes every five seconds. Its main function is to
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112 * check that all the standard demo tasks are still operational. Each time it
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113 * executes it sends a status code to the LCD task. The LCD task interprets the
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114 * code and displays an appropriate message - which will be PASS if no tasks
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115 * have reported any errors, or a message stating which task has reported an
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119 /* Standard includes. */
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122 /* Kernel includes. */
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123 #include "FreeRTOS.h"
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127 /* Demo application includes. */
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128 #include "partest.h"
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130 #include "dynamic.h"
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131 #include "comtest2.h"
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132 #include "GenQTest.h"
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134 /* Eval board includes. */
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135 #include "stm32_eval.h"
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136 #include "stm32l152_eval_lcd.h"
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138 /* The priorities assigned to the tasks. */
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139 #define mainFLASH_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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140 #define mainLCD_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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141 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
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142 #define mainGENERIC_QUEUE_TEST_PRIORITY ( tskIDLE_PRIORITY )
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144 /* The length of the queue (the number of items the queue can hold) that is used
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145 to send messages from tasks and interrupts the the LCD task. */
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146 #define mainQUEUE_LENGTH ( 5 )
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148 /* Codes sent within messages to the LCD task so the LCD task can interpret
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149 exactly what the message it just received was. These are sent in the
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150 cMessageID member of the message structure (defined below). */
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151 #define mainMESSAGE_BUTTON_UP ( 1 )
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152 #define mainMESSAGE_BUTTON_SEL ( 2 )
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153 #define mainMESSAGE_STATUS ( 3 )
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155 /* When the cMessageID member of the message sent to the LCD task is
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156 mainMESSAGE_STATUS then these definitions are sent in the lMessageValue member
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157 of the same message and indicate what the status actually is. */
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158 #define mainERROR_DYNAMIC_TASKS ( pdPASS + 1 )
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159 #define mainERROR_COM_TEST ( pdPASS + 2 )
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160 #define mainERROR_GEN_QUEUE_TEST ( pdPASS + 3 )
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162 /* Baud rate used by the comtest tasks. */
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163 #define mainCOM_TEST_BAUD_RATE ( 115200 )
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165 /* The LED used by the comtest tasks. See the comtest.c file for more
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167 #define mainCOM_TEST_LED ( 3 )
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169 /* The LCD task uses printf() so requires more stack than most of the other
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171 #define mainLCD_TASK_STACK_SIZE ( configMINIMAL_STACK_SIZE * 2 )
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173 /*-----------------------------------------------------------*/
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176 * System configuration is performed prior to main() being called, this function
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177 * configures the peripherals used by the demo application.
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179 static void prvSetupHardware( void );
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182 * Definition of the LCD/controller task described in the comments at the top
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185 static void prvLCDTask( void *pvParameters );
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188 * Definition of the button poll task described in the comments at the top of
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191 static void prvButtonPollTask( void *pvParameters );
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194 * Converts a status message value into an appropriate string for display on
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195 * the LCD. The string is written to pcBuffer.
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197 static void prvGenerateStatusMessage( char *pcBuffer, long lStatusValue );
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199 /*-----------------------------------------------------------*/
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201 /* The time base for the run time stats is generated by the 16 bit timer 6.
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202 Each time the timer overflows ulTIM6_OverflowCount is incremented. Therefore,
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203 when converting the total run time to a 32 bit number, the most significant two
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204 bytes are given by ulTIM6_OverflowCount and the least significant two bytes are
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205 given by the current TIM6 counter value. Care must be taken with data
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206 consistency when combining the two in case a timer overflow occurs as the
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207 value is being read. */
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208 unsigned long ulTIM6_OverflowCount = 0UL;
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210 /* The handle of the queue used to send messages from tasks and interrupts to
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212 static xQueueHandle xLCDQueue = NULL;
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214 /* The definition of each message sent from tasks and interrupts to the LCD
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218 char cMessageID; /* << States what the message is. */
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219 long lMessageValue; /* << States the message value (can be an integer, string pointer, etc. depending on the value of cMessageID). */
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222 /*-----------------------------------------------------------*/
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226 /* Configure the peripherals used by this demo application. This includes
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227 configuring the joystick input select button to generate interrupts. */
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228 prvSetupHardware();
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230 /* Create the queue used by tasks and interrupts to send strings to the LCD
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232 xLCDQueue = xQueueCreate( mainQUEUE_LENGTH, sizeof( xQueueMessage ) );
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234 /* If the queue could not be created then don't create any tasks that might
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235 attempt to use the queue. */
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236 if( xLCDQueue != NULL )
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238 /* Add the created queue to the queue registry so it can be viewed in
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239 the IAR FreeRTOS state viewer plug-in. */
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240 vQueueAddToRegistry( xLCDQueue, "LCDQueue" );
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242 /* Create the LCD and button poll tasks, as described at the top of this
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244 xTaskCreate( prvLCDTask, ( signed char * ) "LCD", mainLCD_TASK_STACK_SIZE, NULL, mainLCD_TASK_PRIORITY, NULL );
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245 xTaskCreate( prvButtonPollTask, ( signed char * ) "ButPoll", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
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247 /* Create a subset of the standard demo tasks. */
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248 vStartDynamicPriorityTasks();
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249 vStartLEDFlashTasks( mainFLASH_TASK_PRIORITY );
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250 vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
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251 vStartGenericQueueTasks( mainGENERIC_QUEUE_TEST_PRIORITY );
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253 /* Start the scheduler. */
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254 vTaskStartScheduler();
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257 /* If all is well then this line will never be reached. If it is reached
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258 then it is likely that there was insufficient (FreeRTOS) heap memory space
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259 to create the idle task. This may have been trapped by the malloc() failed
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260 hook function, if one is configured. */
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263 /*-----------------------------------------------------------*/
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265 static void prvLCDTask( void *pvParameters )
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267 xQueueMessage xReceivedMessage;
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268 long lLine = Line1;
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269 const long lFontHeight = (((sFONT *)LCD_GetFont())->Height);
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271 /* Buffer into which strings are formatted and placed ready for display on the
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272 LCD. Note this is a static variable to prevent it being allocated on the task
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273 stack, which is too small to hold such a variable. The stack size is configured
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274 when the task is created. */
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275 static char cBuffer[ 512 ];
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277 /* This function is the only function that uses printf(). If printf() is
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278 used from any other function then some sort of mutual exclusion on stdout
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281 This is also the only function that is permitted to access the LCD.
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283 First print out the number of bytes that remain in the FreeRTOS heap. This
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284 can be viewed in the terminal IO window within the IAR Embedded Workbench. */
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285 printf( "%d bytes of heap space remain unallocated\n", xPortGetFreeHeapSize() );
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289 /* Wait for a message to be received. Using portMAX_DELAY as the block
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290 time will result in an indefinite wait provided INCLUDE_vTaskSuspend is
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291 set to 1 in FreeRTOSConfig.h, therefore there is no need to check the
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292 function return value and the function will only return when a value
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293 has been received. */
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294 xQueueReceive( xLCDQueue, &xReceivedMessage, portMAX_DELAY );
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296 /* Clear the LCD if no room remains for any more text output. */
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297 if( lLine > Line9 )
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303 /* What is this message? What does it contain? */
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304 switch( xReceivedMessage.cMessageID )
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306 case mainMESSAGE_BUTTON_UP : /* The button poll task has just
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307 informed this task that the up
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308 button on the joystick input has
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309 been pressed or released. */
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310 sprintf( cBuffer, "Button up = %d", xReceivedMessage.lMessageValue );
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313 case mainMESSAGE_BUTTON_SEL : /* The select button interrupt
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314 just informed this task that the
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315 select button was pressed.
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316 Generate a table of task run time
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317 statistics and output this to
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318 the terminal IO window in the IAR
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319 embedded workbench. */
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320 printf( "\nTask\t Abs Time\t %%Time\n*****************************************" );
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321 vTaskGetRunTimeStats( ( signed char * ) cBuffer );
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324 /* Also print out a message to
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325 the LCD - in this case the
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326 pointer to the string to print
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327 is sent directly in the
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328 lMessageValue member of the
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329 message. This just demonstrates
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330 a different communication
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332 sprintf( cBuffer, "%s", ( char * ) xReceivedMessage.lMessageValue );
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335 case mainMESSAGE_STATUS : /* The tick interrupt hook
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336 function has just informed this
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337 task of the system status.
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338 Generate a string in accordance
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339 with the status value. */
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340 prvGenerateStatusMessage( cBuffer, xReceivedMessage.lMessageValue );
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343 default : sprintf( cBuffer, "Unknown message" );
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347 /* Output the message that was placed into the cBuffer array within the
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348 switch statement above. */
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349 LCD_DisplayStringLine( lLine, ( uint8_t * ) cBuffer );
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351 /* Move onto the next LCD line, ready for the next iteration of this
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353 lLine += lFontHeight;
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356 /*-----------------------------------------------------------*/
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358 static void prvGenerateStatusMessage( char *pcBuffer, long lStatusValue )
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360 /* Just a utility function to convert a status value into a meaningful
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361 string for output onto the LCD. */
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362 switch( lStatusValue )
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364 case pdPASS : sprintf( pcBuffer, "Task status = PASS" );
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366 case mainERROR_DYNAMIC_TASKS : sprintf( pcBuffer, "Error: Dynamic tasks" );
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368 case mainERROR_COM_TEST : sprintf( pcBuffer, "Err: loop connected?" ); /* Error in COM test - is the Loopback connector connected? */
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370 case mainERROR_GEN_QUEUE_TEST : sprintf( pcBuffer, "Error: Gen Q test" );
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372 default : sprintf( pcBuffer, "Unknown status" );
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376 /*-----------------------------------------------------------*/
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378 void EXTI9_5_IRQHandler( void )
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380 /* Define the message sent to the LCD task from this interrupt. */
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381 const xQueueMessage xMessage = { mainMESSAGE_BUTTON_SEL, ( unsigned long ) "Select Interrupt!" };
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382 long lHigherPriorityTaskWoken = pdFALSE;
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384 /* This is the interrupt handler for the joystick select button input.
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385 The button has been pushed, write a message to the LCD via the LCD task. */
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386 xQueueSendFromISR( xLCDQueue, &xMessage, &lHigherPriorityTaskWoken );
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388 EXTI_ClearITPendingBit( SEL_BUTTON_EXTI_LINE );
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390 /* If writing to xLCDQueue caused a task to unblock, and the unblocked task
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391 has a priority equal to or above the task that this interrupt interrupted,
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392 then lHigherPriorityTaskWoken will have been set to pdTRUE internally within
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393 xQueuesendFromISR(), and portEND_SWITCHING_ISR() will ensure that this
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394 interrupt returns directly to the higher priority unblocked task. */
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395 portEND_SWITCHING_ISR( lHigherPriorityTaskWoken );
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397 /*-----------------------------------------------------------*/
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399 void vApplicationTickHook( void )
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401 static unsigned long ulCounter = 0;
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402 static const unsigned long ulCheckFrequency = 5000UL / portTICK_RATE_MS;
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403 long lHigherPriorityTaskWoken = pdFALSE;
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405 /* Define the status message that is sent to the LCD task. By default the
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407 static xQueueMessage xStatusMessage = { mainMESSAGE_STATUS, pdPASS };
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409 /* This is called from within the tick interrupt and performs the 'check'
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410 functionality as described in the comments at the top of this file.
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412 Is it time to perform the 'check' functionality again? */
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414 if( ulCounter >= ulCheckFrequency )
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416 /* See if the standard demo tasks are executing as expected, changing
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417 the message that is sent to the LCD task from PASS to an error code if
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418 any tasks set reports an error. */
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419 if( xAreDynamicPriorityTasksStillRunning() != pdPASS )
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421 xStatusMessage.lMessageValue = mainERROR_DYNAMIC_TASKS;
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424 if( xAreComTestTasksStillRunning() != pdPASS )
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426 xStatusMessage.lMessageValue = mainERROR_COM_TEST;
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429 if( xAreGenericQueueTasksStillRunning() != pdPASS )
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431 xStatusMessage.lMessageValue = mainERROR_GEN_QUEUE_TEST;
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434 /* As this is the tick hook the lHigherPriorityTaskWoken parameter is not
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435 needed (a context switch is going to be performed anyway), but it must
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436 still be provided. */
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437 xQueueSendFromISR( xLCDQueue, &xStatusMessage, &lHigherPriorityTaskWoken );
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441 /*-----------------------------------------------------------*/
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443 static void prvButtonPollTask( void *pvParameters )
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445 long lLastState = pdTRUE;
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447 xQueueMessage xMessage;
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449 /* This tasks performs the button polling functionality as described at the
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450 top of this file. */
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453 /* Check the button state. */
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454 lState = STM_EVAL_PBGetState( BUTTON_UP );
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455 if( lState != lLastState )
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457 /* The state has changed, send a message to the LCD task. */
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458 xMessage.cMessageID = mainMESSAGE_BUTTON_UP;
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459 xMessage.lMessageValue = lState;
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460 lLastState = lState;
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461 xQueueSend( xLCDQueue, &xMessage, portMAX_DELAY );
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464 /* Block for 10 milliseconds so this task does not utilise all the CPU
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465 time and debouncing of the button is not necessary. */
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466 vTaskDelay( 10 / portTICK_RATE_MS );
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469 /*-----------------------------------------------------------*/
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471 static void prvSetupHardware( void )
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473 /* Ensure that all 4 interrupt priority bits are used as the pre-emption
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475 NVIC_PriorityGroupConfig( NVIC_PriorityGroup_4 );
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477 /* Initialise the LEDs. */
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478 vParTestInitialise();
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480 /* Initialise the joystick inputs. */
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481 STM_EVAL_PBInit( BUTTON_UP, BUTTON_MODE_GPIO );
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482 STM_EVAL_PBInit( BUTTON_DOWN, BUTTON_MODE_GPIO );
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483 STM_EVAL_PBInit( BUTTON_LEFT, BUTTON_MODE_GPIO );
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484 STM_EVAL_PBInit( BUTTON_RIGHT, BUTTON_MODE_GPIO );
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486 /* The select button in the middle of the joystick is configured to generate
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487 an interrupt. The Eval board library will configure the interrupt
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488 priority to be the lowest priority available so the priority need not be
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489 set here explicitly. It is important that the priority is equal to or
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490 below that set by the configMAX_SYSCALL_INTERRUPT_PRIORITY value set in
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491 FreeRTOSConfig.h. */
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492 STM_EVAL_PBInit( BUTTON_SEL, BUTTON_MODE_EXTI );
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494 /* Initialize the LCD */
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495 STM32L152_LCD_Init();
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497 LCD_SetBackColor( Blue );
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498 LCD_SetTextColor( White );
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499 LCD_DisplayStringLine( Line0, " www.FreeRTOS.org" );
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501 /*-----------------------------------------------------------*/
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503 void vConfigureTimerForRunTimeStats( void )
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505 TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
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506 NVIC_InitTypeDef NVIC_InitStructure;
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508 /* The time base for the run time stats is generated by the 16 bit timer 6.
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509 Each time the timer overflows ulTIM6_OverflowCount is incremented.
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510 Therefore, when converting the total run time to a 32 bit number, the most
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511 significant two bytes are given by ulTIM6_OverflowCount and the least
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512 significant two bytes are given by the current TIM6 counter value. Care
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513 must be taken with data consistency when combining the two in case a timer
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514 overflow occurs as the value is being read.
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516 The portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() macro (in FreeRTOSConfig.h) is
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517 defined to call this function, so the kernel will call this function
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518 automatically at the appropriate time. */
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520 /* TIM6 clock enable */
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521 RCC_APB1PeriphClockCmd( RCC_APB1Periph_TIM6, ENABLE );
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523 /* The 32MHz clock divided by 5000 should tick (very) approximately every
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524 150uS and overflow a 16bit timer (very) approximately every 10 seconds. */
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525 TIM_TimeBaseStructure.TIM_Period = 65535;
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526 TIM_TimeBaseStructure.TIM_Prescaler = 5000;
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527 TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
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528 TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
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530 TIM_TimeBaseInit( TIM6, &TIM_TimeBaseStructure );
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532 /* Only interrupt on overflow events. */
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533 TIM6->CR1 |= TIM_CR1_URS;
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535 /* Enable the interrupt. */
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536 TIM_ITConfig( TIM6, TIM_IT_Update, ENABLE );
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538 /* Enable the TIM6 global Interrupt */
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539 NVIC_InitStructure.NVIC_IRQChannel = TIM6_IRQn;
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540 NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = configLIBRARY_LOWEST_INTERRUPT_PRIORITY;
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541 NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x00; /* Not used as 4 bits are used for the pre-emption priority. */
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542 NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
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543 NVIC_Init(&NVIC_InitStructure);
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545 TIM_ClearITPendingBit( TIM6, TIM_IT_Update );
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546 TIM_Cmd( TIM6, ENABLE );
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548 /*-----------------------------------------------------------*/
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550 void TIM6_IRQHandler( void )
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552 /* Interrupt handler for TIM 6
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554 The time base for the run time stats is generated by the 16 bit timer 6.
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555 Each time the timer overflows ulTIM6_OverflowCount is incremented.
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556 Therefore, when converting the total run time to a 32 bit number, the most
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557 significant two bytes are given by ulTIM6_OverflowCount and the least
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558 significant two bytes are given by the current TIM6 counter value. Care
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559 must be taken with data consistency when combining the two in case a timer
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560 overflow occurs as the value is being read. */
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561 if( TIM_GetITStatus( TIM6, TIM_IT_Update) != RESET)
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563 ulTIM6_OverflowCount++;
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564 TIM_ClearITPendingBit( TIM6, TIM_IT_Update );
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567 /*-----------------------------------------------------------*/
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569 void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed char *pcTaskName )
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571 ( void ) pcTaskName;
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574 /* Run time stack overflow checking is performed if
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575 configconfigCHECK_FOR_STACK_OVERFLOW is defined to 1 or 2. This hook
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576 function is called if a stack overflow is detected. */
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579 /*-----------------------------------------------------------*/
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581 void vApplicationMallocFailedHook( void )
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583 /* Called if a call to pvPortMalloc() fails because there is insufficient
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584 free memory available in the FreeRTOS heap. pvPortMalloc() is called
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585 internally by FreeRTOS API functions that create tasks, queues or
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589 /*-----------------------------------------------------------*/
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591 void vApplicationIdleHook( void )
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593 /* Called on each iteration of the idle task. In this case the idle task
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594 just enters a low(ish) power mode. */
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595 PWR_EnterSleepMode( PWR_Regulator_ON, PWR_SLEEPEntry_WFI );
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projects / freertos / blob