2 FreeRTOS V9.0.0 - Copyright (C) 2016 Real Time Engineers Ltd.
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5 VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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7 This file is part of the FreeRTOS distribution.
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9 FreeRTOS is free software; you can redistribute it and/or modify it under
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10 the terms of the GNU General Public License (version 2) as published by the
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11 Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception.
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13 ***************************************************************************
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14 >>! NOTE: The modification to the GPL is included to allow you to !<<
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15 >>! distribute a combined work that includes FreeRTOS without being !<<
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16 >>! obliged to provide the source code for proprietary components !<<
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17 >>! outside of the FreeRTOS kernel. !<<
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18 ***************************************************************************
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20 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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21 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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22 FOR A PARTICULAR PURPOSE. Full license text is available on the following
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23 link: http://www.freertos.org/a00114.html
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25 ***************************************************************************
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27 * FreeRTOS provides completely free yet professionally developed, *
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28 * robust, strictly quality controlled, supported, and cross *
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29 * platform software that is more than just the market leader, it *
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30 * is the industry's de facto standard. *
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32 * Help yourself get started quickly while simultaneously helping *
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33 * to support the FreeRTOS project by purchasing a FreeRTOS *
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34 * tutorial book, reference manual, or both: *
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35 * http://www.FreeRTOS.org/Documentation *
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37 ***************************************************************************
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39 http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
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40 the FAQ page "My application does not run, what could be wrong?". Have you
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41 defined configASSERT()?
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43 http://www.FreeRTOS.org/support - In return for receiving this top quality
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44 embedded software for free we request you assist our global community by
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45 participating in the support forum.
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47 http://www.FreeRTOS.org/training - Investing in training allows your team to
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48 be as productive as possible as early as possible. Now you can receive
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49 FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
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50 Ltd, and the world's leading authority on the world's leading RTOS.
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52 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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53 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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54 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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56 http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
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57 Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
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59 http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
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60 Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
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61 licenses offer ticketed support, indemnification and commercial middleware.
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63 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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64 engineered and independently SIL3 certified version for use in safety and
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65 mission critical applications that require provable dependability.
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72 * This project contains an application demonstrating the use of the
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73 * FreeRTOS.org mini real time scheduler on the Luminary Micro LM3S811 Eval
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74 * board. See http://www.FreeRTOS.org for more information.
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76 * main() simply sets up the hardware, creates all the demo application tasks,
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77 * then starts the scheduler. http://www.freertos.org/a00102.html provides
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78 * more information on the standard demo tasks.
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80 * In addition to a subset of the standard demo application tasks, main.c also
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81 * defines the following tasks:
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83 * + A 'Print' task. The print task is the only task permitted to access the
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84 * LCD - thus ensuring mutual exclusion and consistent access to the resource.
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85 * Other tasks do not access the LCD directly, but instead send the text they
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86 * wish to display to the print task. The print task spends most of its time
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87 * blocked - only waking when a message is queued for display.
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89 * + A 'Button handler' task. The eval board contains a user push button that
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90 * is configured to generate interrupts. The interrupt handler uses a
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91 * semaphore to wake the button handler task - demonstrating how the priority
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92 * mechanism can be used to defer interrupt processing to the task level. The
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93 * button handler task sends a message both to the LCD (via the print task) and
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94 * the UART where it can be viewed using a dumb terminal (via the UART to USB
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95 * converter on the eval board). NOTES: The dumb terminal must be closed in
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96 * order to reflash the microcontroller. A very basic interrupt driven UART
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97 * driver is used that does not use the FIFO. 19200 baud is used.
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99 * + A 'check' task. The check task only executes every five seconds but has a
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100 * high priority so is guaranteed to get processor time. Its function is to
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101 * check that all the other tasks are still operational and that no errors have
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102 * been detected at any time. If no errors have every been detected 'PASS' is
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103 * written to the display (via the print task) - if an error has ever been
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104 * detected the message is changed to 'FAIL'. The position of the message is
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105 * changed for each write.
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110 /* Environment includes. */
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111 #include "DriverLib.h"
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113 /* Scheduler includes. */
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114 #include "FreeRTOS.h"
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117 #include "semphr.h"
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119 /* Demo app includes. */
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120 #include "integer.h"
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122 #include "semtest.h"
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123 #include "BlockQ.h"
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125 /* Delay between cycles of the 'check' task. */
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126 #define mainCHECK_DELAY ( ( TickType_t ) 5000 / portTICK_PERIOD_MS )
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128 /* UART configuration - note this does not use the FIFO so is not very
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130 #define mainBAUD_RATE ( 19200 )
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131 #define mainFIFO_SET ( 0x10 )
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133 /* Demo task priorities. */
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134 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
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135 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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136 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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137 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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139 /* Demo board specifics. */
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140 #define mainPUSH_BUTTON GPIO_PIN_4
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143 #define mainQUEUE_SIZE ( 3 )
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144 #define mainDEBOUNCE_DELAY ( ( TickType_t ) 150 / portTICK_PERIOD_MS )
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145 #define mainNO_DELAY ( ( TickType_t ) 0 )
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147 * Configure the processor and peripherals for this demo.
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149 static void prvSetupHardware( void );
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152 * The 'check' task, as described at the top of this file.
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154 static void vCheckTask( void *pvParameters );
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157 * The task that is woken by the ISR that processes GPIO interrupts originating
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158 * from the push button.
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160 static void vButtonHandlerTask( void *pvParameters );
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163 * The task that controls access to the LCD.
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165 static void vPrintTask( void *pvParameter );
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167 /* String that is transmitted on the UART. */
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168 static char *cMessage = "Task woken by button interrupt! --- ";
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169 static volatile char *pcNextChar;
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171 /* The semaphore used to wake the button handler task from within the GPIO
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172 interrupt handler. */
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173 SemaphoreHandle_t xButtonSemaphore;
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175 /* The queue used to send strings to the print task for display on the LCD. */
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176 QueueHandle_t xPrintQueue;
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178 /* Newer library version. */
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179 extern void UARTConfigSetExpClk(unsigned long ulBase, unsigned long ulUARTClk, unsigned long ulBaud, unsigned long ulConfig);
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180 /*-----------------------------------------------------------*/
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184 /* Configure the clocks, UART and GPIO. */
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185 prvSetupHardware();
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187 /* Create the semaphore used to wake the button handler task from the GPIO
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189 vSemaphoreCreateBinary( xButtonSemaphore );
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190 xSemaphoreTake( xButtonSemaphore, 0 );
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192 /* Create the queue used to pass message to vPrintTask. */
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193 xPrintQueue = xQueueCreate( mainQUEUE_SIZE, sizeof( char * ) );
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195 /* Start the standard demo tasks. */
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196 vStartIntegerMathTasks( tskIDLE_PRIORITY );
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197 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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198 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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199 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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201 /* Start the tasks defined within the file. */
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202 xTaskCreate( vCheckTask, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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203 xTaskCreate( vButtonHandlerTask, "Status", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY + 1, NULL );
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204 xTaskCreate( vPrintTask, "Print", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY - 1, NULL );
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206 /* Start the scheduler. */
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207 vTaskStartScheduler();
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209 /* Will only get here if there was insufficient heap to start the
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214 /*-----------------------------------------------------------*/
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216 static void vCheckTask( void *pvParameters )
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218 portBASE_TYPE xErrorOccurred = pdFALSE;
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219 TickType_t xLastExecutionTime;
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220 const char *pcPassMessage = "PASS";
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221 const char *pcFailMessage = "FAIL";
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223 /* Initialise xLastExecutionTime so the first call to vTaskDelayUntil()
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224 works correctly. */
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225 xLastExecutionTime = xTaskGetTickCount();
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229 /* Perform this check every mainCHECK_DELAY milliseconds. */
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230 vTaskDelayUntil( &xLastExecutionTime, mainCHECK_DELAY );
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232 /* Has an error been found in any task? */
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234 if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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236 xErrorOccurred = pdTRUE;
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239 if( xArePollingQueuesStillRunning() != pdTRUE )
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241 xErrorOccurred = pdTRUE;
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244 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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246 xErrorOccurred = pdTRUE;
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249 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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251 xErrorOccurred = pdTRUE;
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254 /* Send either a pass or fail message. If an error is found it is
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255 never cleared again. We do not write directly to the LCD, but instead
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256 queue a message for display by the print task. */
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257 if( xErrorOccurred == pdTRUE )
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259 xQueueSend( xPrintQueue, &pcFailMessage, portMAX_DELAY );
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263 xQueueSend( xPrintQueue, &pcPassMessage, portMAX_DELAY );
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267 /*-----------------------------------------------------------*/
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269 static void prvSetupHardware( void )
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271 /* Setup the PLL. */
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272 SysCtlClockSet( SYSCTL_SYSDIV_10 | SYSCTL_USE_PLL | SYSCTL_OSC_MAIN | SYSCTL_XTAL_6MHZ );
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274 /* Setup the push button. */
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275 SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOC);
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276 GPIODirModeSet(GPIO_PORTC_BASE, mainPUSH_BUTTON, GPIO_DIR_MODE_IN);
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277 GPIOIntTypeSet( GPIO_PORTC_BASE, mainPUSH_BUTTON,GPIO_FALLING_EDGE );
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278 IntPrioritySet( INT_GPIOC, configKERNEL_INTERRUPT_PRIORITY );
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279 GPIOPinIntEnable( GPIO_PORTC_BASE, mainPUSH_BUTTON );
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280 IntEnable( INT_GPIOC );
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284 /* Enable the UART. */
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285 SysCtlPeripheralEnable(SYSCTL_PERIPH_UART0);
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286 SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA);
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288 /* Set GPIO A0 and A1 as peripheral function. They are used to output the
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290 GPIODirModeSet( GPIO_PORTA_BASE, GPIO_PIN_0 | GPIO_PIN_1, GPIO_DIR_MODE_HW );
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292 /* Configure the UART for 8-N-1 operation. */
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293 UARTConfigSetExpClk( UART0_BASE, SysCtlClockGet(), mainBAUD_RATE, UART_CONFIG_WLEN_8 | UART_CONFIG_PAR_NONE | UART_CONFIG_STOP_ONE );
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295 /* We don't want to use the fifo. This is for test purposes to generate
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296 as many interrupts as possible. */
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297 HWREG( UART0_BASE + UART_O_LCR_H ) &= ~mainFIFO_SET;
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299 /* Enable Tx interrupts. */
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300 HWREG( UART0_BASE + UART_O_IM ) |= UART_INT_TX;
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301 IntPrioritySet( INT_UART0, configKERNEL_INTERRUPT_PRIORITY );
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302 IntEnable( INT_UART0 );
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305 /* Initialise the LCD> */
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306 OSRAMInit( false );
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307 OSRAMStringDraw("www.FreeRTOS.org", 0, 0);
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308 OSRAMStringDraw("LM3S811 demo", 16, 1);
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310 /*-----------------------------------------------------------*/
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312 static void vButtonHandlerTask( void *pvParameters )
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314 const char *pcInterruptMessage = "Int";
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318 /* Wait for a GPIO interrupt to wake this task. */
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319 while( xSemaphoreTake( xButtonSemaphore, portMAX_DELAY ) != pdPASS );
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321 /* Start the Tx of the message on the UART. */
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322 UARTIntDisable( UART0_BASE, UART_INT_TX );
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324 pcNextChar = cMessage;
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326 /* Send the first character. */
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327 if( !( HWREG( UART0_BASE + UART_O_FR ) & UART_FR_TXFF ) )
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329 HWREG( UART0_BASE + UART_O_DR ) = *pcNextChar;
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334 UARTIntEnable(UART0_BASE, UART_INT_TX);
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336 /* Queue a message for the print task to display on the LCD. */
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337 xQueueSend( xPrintQueue, &pcInterruptMessage, portMAX_DELAY );
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339 /* Make sure we don't process bounces. */
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340 vTaskDelay( mainDEBOUNCE_DELAY );
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341 xSemaphoreTake( xButtonSemaphore, mainNO_DELAY );
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345 /*-----------------------------------------------------------*/
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347 void vUART_ISR(void)
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349 unsigned long ulStatus;
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351 /* What caused the interrupt. */
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352 ulStatus = UARTIntStatus( UART0_BASE, pdTRUE );
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354 /* Clear the interrupt. */
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355 UARTIntClear( UART0_BASE, ulStatus );
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357 /* Was a Tx interrupt pending? */
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358 if( ulStatus & UART_INT_TX )
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360 /* Send the next character in the string. We are not using the FIFO. */
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361 if( *pcNextChar != NULL )
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363 if( !( HWREG( UART0_BASE + UART_O_FR ) & UART_FR_TXFF ) )
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365 HWREG( UART0_BASE + UART_O_DR ) = *pcNextChar;
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371 /*-----------------------------------------------------------*/
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373 void vGPIO_ISR( void )
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375 portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
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377 /* Clear the interrupt. */
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378 GPIOPinIntClear( GPIO_PORTC_BASE, mainPUSH_BUTTON );
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380 /* Wake the button handler task. */
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381 xSemaphoreGiveFromISR( xButtonSemaphore, &xHigherPriorityTaskWoken );
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382 portEND_SWITCHING_ISR( xHigherPriorityTaskWoken );
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384 /*-----------------------------------------------------------*/
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386 static void vPrintTask( void *pvParameters )
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389 unsigned portBASE_TYPE uxLine = 0, uxRow = 0;
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393 /* Wait for a message to arrive. */
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394 xQueueReceive( xPrintQueue, &pcMessage, portMAX_DELAY );
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396 /* Write the message to the LCD. */
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400 OSRAMStringDraw( pcMessage, uxLine & 0x3f, uxRow & 0x01);
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