2 * FreeRTOS Kernel V10.0.1
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3 * Copyright (C) 2017 Amazon.com, Inc. or its affiliates. All Rights Reserved.
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5 * Permission is hereby granted, free of charge, to any person obtaining a copy of
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6 * this software and associated documentation files (the "Software"), to deal in
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7 * the Software without restriction, including without limitation the rights to
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8 * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
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9 * the Software, and to permit persons to whom the Software is furnished to do so,
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10 * subject to the following conditions:
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12 * The above copyright notice and this permission notice shall be included in all
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13 * copies or substantial portions of the Software.
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15 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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16 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
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17 * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
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18 * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
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19 * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
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20 * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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22 * http://www.FreeRTOS.org
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23 * http://aws.amazon.com/freertos
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25 * 1 tab == 4 spaces!
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30 * Creates all the demo application tasks, then starts the scheduler. The WEB
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31 * documentation provides more details of the standard demo application tasks.
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32 * In addition to the standard demo tasks, the following tasks and tests are
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33 * defined and/or created within this file:
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35 * "Fast Interrupt Test" - A high frequency periodic interrupt is generated
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36 * using a free running timer to demonstrate the use of the
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37 * configKERNEL_INTERRUPT_PRIORITY configuration constant. The interrupt
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38 * service routine measures the number of processor clocks that occur between
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39 * each interrupt - and in so doing measures the jitter in the interrupt timing.
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40 * The maximum measured jitter time is latched in the ulMaxJitter variable, and
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41 * displayed on the OLED display by the 'OLED' task as described below. The
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42 * fast interrupt is configured and handled in the timertest.c source file.
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44 * "OLED" task - the OLED task is a 'gatekeeper' task. It is the only task that
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45 * is permitted to access the display directly. Other tasks wishing to write a
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46 * message to the OLED send the message on a queue to the OLED task instead of
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47 * accessing the OLED themselves. The OLED task just blocks on the queue waiting
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48 * for messages - waking and displaying the messages as they arrive.
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50 * "Check" hook - This only executes every five seconds from the tick hook.
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51 * Its main function is to check that all the standard demo tasks are still
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52 * operational. Should any unexpected behaviour within a demo task be discovered
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53 * the tick hook will write an error to the OLED (via the OLED task). If all the
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54 * demo tasks are executing with their expected behaviour then the check task
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55 * writes PASS to the OLED (again via the OLED task), as described above.
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57 * "uIP" task - This is the task that handles the uIP stack. All TCP/IP
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58 * processing is performed in this task.
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64 /*************************************************************************
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65 * Please ensure to read http://www.freertos.org/portlm3sx965.html
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66 * which provides information on configuring and running this demo for the
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67 * various Luminary Micro EKs.
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68 *************************************************************************/
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70 /* Set the following option to 1 to include the WEB server in the build. By
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71 default the WEB server is excluded to keep the compiled code size under the 32K
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72 limit imposed by the KickStart version of the IAR compiler. The graphics
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73 libraries take up a lot of ROM space, hence including the graphics libraries
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74 and the TCP/IP stack together cannot be accommodated with the 32K size limit. */
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75 #define mainINCLUDE_WEB_SERVER 0
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78 /* Standard includes. */
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82 /* Scheduler includes. */
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83 #include "FreeRTOS.h"
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88 /* Hardware library includes. */
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89 #include "hw_memmap.h"
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90 #include "hw_types.h"
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91 #include "hw_sysctl.h"
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95 #include "rit128x96x4.h"
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96 #include "osram128x64x4.h"
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97 #include "formike128x128x16.h"
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99 /* Demo app includes. */
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101 #include "blocktim.h"
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103 #include "partest.h"
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104 #include "semtest.h"
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106 #include "lcd_message.h"
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107 #include "bitmap.h"
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108 #include "GenQTest.h"
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110 #include "recmutex.h"
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111 #include "IntQueue.h"
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112 #include "QueueSet.h"
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113 #include "EventGroupsDemo.h"
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114 #include "MessageBufferDemo.h"
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115 #include "StreamBufferDemo.h"
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117 /*-----------------------------------------------------------*/
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119 /* The time between cycles of the 'check' functionality (defined within the
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121 #define mainCHECK_DELAY ( ( TickType_t ) 5000 / portTICK_PERIOD_MS )
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123 /* Size of the stack allocated to the uIP task. */
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124 #define mainBASIC_WEB_STACK_SIZE ( configMINIMAL_STACK_SIZE * 3 )
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126 /* The OLED task uses the sprintf function so requires a little more stack too. */
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127 #define mainOLED_TASK_STACK_SIZE ( configMINIMAL_STACK_SIZE + 50 )
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129 /* Task priorities. */
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130 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
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131 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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132 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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133 #define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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134 #define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )
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136 /* The maximum number of message that can be waiting for display at any one
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138 #define mainOLED_QUEUE_SIZE ( 3 )
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140 /* Dimensions the buffer into which the jitter time is written. */
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141 #define mainMAX_MSG_LEN 25
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143 /* The period of the system clock in nano seconds. This is used to calculate
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144 the jitter time in nano seconds. */
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145 #define mainNS_PER_CLOCK ( ( unsigned long ) ( ( 1.0 / ( double ) configCPU_CLOCK_HZ ) * 1000000000.0 ) )
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147 /* Constants used when writing strings to the display. */
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148 #define mainCHARACTER_HEIGHT ( 9 )
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149 #define mainMAX_ROWS_128 ( mainCHARACTER_HEIGHT * 14 )
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150 #define mainMAX_ROWS_96 ( mainCHARACTER_HEIGHT * 10 )
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151 #define mainMAX_ROWS_64 ( mainCHARACTER_HEIGHT * 7 )
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152 #define mainFULL_SCALE ( 15 )
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153 #define ulSSI_FREQUENCY ( 3500000UL )
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155 /*-----------------------------------------------------------*/
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158 * The task that handles the uIP stack. All TCP/IP processing is performed in
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161 extern void vuIP_Task( void *pvParameters );
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164 * The display is written two by more than one task so is controlled by a
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165 * 'gatekeeper' task. This is the only task that is actually permitted to
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166 * access the display directly. Other tasks wanting to display a message send
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167 * the message to the gatekeeper.
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169 static void vOLEDTask( void *pvParameters );
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172 * Configure the hardware for the demo.
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174 static void prvSetupHardware( void );
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177 * Configures the high frequency timers - those used to measure the timing
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178 * jitter while the real time kernel is executing.
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180 extern void vSetupHighFrequencyTimer( void );
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183 * Hook functions that can get called by the kernel.
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185 void vApplicationStackOverflowHook( TaskHandle_t *pxTask, signed char *pcTaskName );
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186 void vApplicationTickHook( void );
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189 /*-----------------------------------------------------------*/
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191 /* The queue used to send messages to the OLED task. */
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192 QueueHandle_t xOLEDQueue;
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194 /* The welcome text. */
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195 const char * const pcWelcomeMessage = " www.FreeRTOS.org";
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197 /*-----------------------------------------------------------*/
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200 /*************************************************************************
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201 * Please ensure to read http://www.freertos.org/portlm3sx965.html
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202 * which provides information on configuring and running this demo for the
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203 * various Luminary Micro EKs.
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204 *************************************************************************/
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207 prvSetupHardware();
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209 /* Create the queue used by the OLED task. Messages for display on the OLED
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210 are received via this queue. */
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211 xOLEDQueue = xQueueCreate( mainOLED_QUEUE_SIZE, sizeof( xOLEDMessage ) );
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213 /* Start the standard demo tasks. */
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214 vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
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215 vStartInterruptQueueTasks();
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216 vStartRecursiveMutexTasks();
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217 vCreateBlockTimeTasks();
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218 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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219 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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220 vStartQueuePeekTasks();
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221 vStartQueueSetTasks();
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222 vStartEventGroupTasks();
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223 vStartMessageBufferTasks();
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224 vStartStreamBufferTasks();
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226 /* Exclude some tasks if using the kickstart version to ensure we stay within
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227 the 32K code size limit. */
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228 #if mainINCLUDE_WEB_SERVER != 0
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230 /* Create the uIP task if running on a processor that includes a MAC and
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232 if( SysCtlPeripheralPresent( SYSCTL_PERIPH_ETH ) )
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234 xTaskCreate( vuIP_Task, "uIP", mainBASIC_WEB_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY - 1, NULL );
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239 /* Start the tasks defined within this file/specific to this demo. */
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240 xTaskCreate( vOLEDTask, "OLED", mainOLED_TASK_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
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242 /* The suicide tasks must be created last as they need to know how many
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243 tasks were running prior to their creation in order to ascertain whether
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244 or not the correct/expected number of tasks are running at any given time. */
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245 vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
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247 /* Uncomment the following line to configure the high frequency interrupt
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248 used to measure the interrupt jitter time.
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249 vSetupHighFrequencyTimer(); */
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251 /* Start the scheduler. */
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252 vTaskStartScheduler();
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254 /* Will only get here if there was insufficient memory to create the idle
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258 /*-----------------------------------------------------------*/
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260 void prvSetupHardware( void )
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262 /* If running on Rev A2 silicon, turn the LDO voltage up to 2.75V. This is
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263 a workaround to allow the PLL to operate reliably. */
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264 if( DEVICE_IS_REVA2 )
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266 SysCtlLDOSet( SYSCTL_LDO_2_75V );
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269 /* Set the clocking to run from the PLL at 50 MHz */
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270 SysCtlClockSet( SYSCTL_SYSDIV_4 | SYSCTL_USE_PLL | SYSCTL_OSC_MAIN | SYSCTL_XTAL_8MHZ );
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272 /* Enable Port F for Ethernet LEDs
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274 LED1 Bit 2 Output */
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275 SysCtlPeripheralEnable( SYSCTL_PERIPH_GPIOF );
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276 GPIODirModeSet( GPIO_PORTF_BASE, (GPIO_PIN_2 | GPIO_PIN_3), GPIO_DIR_MODE_HW );
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277 GPIOPadConfigSet( GPIO_PORTF_BASE, (GPIO_PIN_2 | GPIO_PIN_3 ), GPIO_STRENGTH_2MA, GPIO_PIN_TYPE_STD );
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279 vParTestInitialise();
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281 /*-----------------------------------------------------------*/
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283 void vApplicationTickHook( void )
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285 static xOLEDMessage xMessage = { "PASS" };
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286 static unsigned long ulTicksSinceLastDisplay = 0;
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287 portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
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289 /* Called from every tick interrupt. Have enough ticks passed to make it
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290 time to perform our health status check again? */
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291 ulTicksSinceLastDisplay++;
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292 if( ulTicksSinceLastDisplay >= mainCHECK_DELAY )
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294 ulTicksSinceLastDisplay = 0;
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296 /* Has an error been found in any task? */
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297 if( xAreStreamBufferTasksStillRunning() != pdTRUE )
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299 xMessage.pcMessage = "ERROR IN STRM";
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301 else if( xAreMessageBufferTasksStillRunning() != pdTRUE )
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303 xMessage.pcMessage = "ERROR IN MSG";
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305 if( xAreGenericQueueTasksStillRunning() != pdTRUE )
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307 xMessage.pcMessage = "ERROR IN GEN Q";
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309 else if( xIsCreateTaskStillRunning() != pdTRUE )
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311 xMessage.pcMessage = "ERROR IN CREATE";
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313 else if( xAreIntQueueTasksStillRunning() != pdTRUE )
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315 xMessage.pcMessage = "ERROR IN INT QUEUE";
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317 else if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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319 xMessage.pcMessage = "ERROR IN BLOCK TIME";
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321 else if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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323 xMessage.pcMessage = "ERROR IN SEMAPHORE";
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325 else if( xArePollingQueuesStillRunning() != pdTRUE )
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327 xMessage.pcMessage = "ERROR IN POLL Q";
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329 else if( xAreQueuePeekTasksStillRunning() != pdTRUE )
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331 xMessage.pcMessage = "ERROR IN PEEK Q";
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333 else if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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335 xMessage.pcMessage = "ERROR IN REC MUTEX";
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337 else if( xAreQueueSetTasksStillRunning() != pdPASS )
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339 xMessage.pcMessage = "ERROR IN Q SET";
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341 else if( xAreEventGroupTasksStillRunning() != pdTRUE )
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343 xMessage.pcMessage = "ERROR IN EVNT GRP";
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346 configASSERT( strcmp( ( const char * ) xMessage.pcMessage, "PASS" ) == 0 );
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348 /* Send the message to the OLED gatekeeper for display. */
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349 xHigherPriorityTaskWoken = pdFALSE;
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350 xQueueSendFromISR( xOLEDQueue, &xMessage, &xHigherPriorityTaskWoken );
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353 /* Write to a queue that is in use as part of the queue set demo to
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354 demonstrate using queue sets from an ISR. */
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355 vQueueSetAccessQueueSetFromISR();
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357 /* Call the event group ISR tests. */
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358 vPeriodicEventGroupsProcessing();
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360 /*-----------------------------------------------------------*/
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362 void vOLEDTask( void *pvParameters )
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364 xOLEDMessage xMessage;
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365 unsigned long ulY, ulMaxY;
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366 static char cMessage[ mainMAX_MSG_LEN ];
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367 extern volatile unsigned long ulMaxJitter;
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368 const unsigned char *pucImage;
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370 /* Functions to access the OLED. The one used depends on the dev kit
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372 void ( *vOLEDInit )( unsigned long ) = NULL;
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373 void ( *vOLEDStringDraw )( const char *, unsigned long, unsigned long, unsigned char ) = NULL;
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374 void ( *vOLEDImageDraw )( const unsigned char *, unsigned long, unsigned long, unsigned long, unsigned long ) = NULL;
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375 void ( *vOLEDClear )( void ) = NULL;
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377 /* Map the OLED access functions to the driver functions that are appropriate
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378 for the evaluation kit being used. */
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379 switch( HWREG( SYSCTL_DID1 ) & SYSCTL_DID1_PRTNO_MASK )
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381 case SYSCTL_DID1_PRTNO_6965 :
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382 case SYSCTL_DID1_PRTNO_2965 : vOLEDInit = OSRAM128x64x4Init;
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383 vOLEDStringDraw = OSRAM128x64x4StringDraw;
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384 vOLEDImageDraw = OSRAM128x64x4ImageDraw;
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385 vOLEDClear = OSRAM128x64x4Clear;
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386 ulMaxY = mainMAX_ROWS_64;
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387 pucImage = pucBasicBitmap;
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390 case SYSCTL_DID1_PRTNO_1968 :
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391 case SYSCTL_DID1_PRTNO_8962 : vOLEDInit = RIT128x96x4Init;
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392 vOLEDStringDraw = RIT128x96x4StringDraw;
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393 vOLEDImageDraw = RIT128x96x4ImageDraw;
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394 vOLEDClear = RIT128x96x4Clear;
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395 ulMaxY = mainMAX_ROWS_96;
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396 pucImage = pucBasicBitmap;
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399 default : vOLEDInit = vFormike128x128x16Init;
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400 vOLEDStringDraw = vFormike128x128x16StringDraw;
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401 vOLEDImageDraw = vFormike128x128x16ImageDraw;
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402 vOLEDClear = vFormike128x128x16Clear;
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403 ulMaxY = mainMAX_ROWS_128;
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404 pucImage = pucGrLibBitmap;
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411 /* Initialise the OLED and display a startup message. */
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412 vOLEDInit( ulSSI_FREQUENCY );
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413 vOLEDStringDraw( "POWERED BY FreeRTOS", 0, 0, mainFULL_SCALE );
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414 vOLEDImageDraw( pucImage, 0, mainCHARACTER_HEIGHT + 1, bmpBITMAP_WIDTH, bmpBITMAP_HEIGHT );
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418 /* Wait for a message to arrive that requires displaying. */
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419 xQueueReceive( xOLEDQueue, &xMessage, portMAX_DELAY );
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421 /* Write the message on the next available row. */
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422 ulY += mainCHARACTER_HEIGHT;
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423 if( ulY >= ulMaxY )
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425 ulY = mainCHARACTER_HEIGHT;
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427 vOLEDStringDraw( pcWelcomeMessage, 0, 0, mainFULL_SCALE );
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430 /* Display the message along with the maximum jitter time from the
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431 high priority time test. */
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432 sprintf( cMessage, "%s [%uns]", xMessage.pcMessage, ulMaxJitter * mainNS_PER_CLOCK );
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433 vOLEDStringDraw( cMessage, 0, ulY, mainFULL_SCALE );
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436 /*-----------------------------------------------------------*/
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438 volatile signed char *pcOverflowedTask = NULL;
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439 void vApplicationStackOverflowHook( TaskHandle_t *pxTask, signed char *pcTaskName )
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442 pcOverflowedTask = pcTaskName;
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446 /*-----------------------------------------------------------*/
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448 void vAssertCalled( const char *pcFile, unsigned long ulLine )
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450 volatile unsigned long ulSetTo1InDebuggerToExit = 0;
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452 taskENTER_CRITICAL();
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454 while( ulSetTo1InDebuggerToExit == 0 )
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456 /* Nothing to do here. Set the loop variable to a non zero value in
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457 the debugger to step out of this function to the point that caused
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463 taskEXIT_CRITICAL();
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466 /* configUSE_STATIC_ALLOCATION is set to 1, so the application must provide an
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467 implementation of vApplicationGetIdleTaskMemory() to provide the memory that is
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468 used by the Idle task. */
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469 void vApplicationGetIdleTaskMemory( StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize )
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471 /* If the buffers to be provided to the Idle task are declared inside this
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472 function then they must be declared static - otherwise they will be allocated on
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473 the stack and so not exists after this function exits. */
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474 static StaticTask_t xIdleTaskTCB;
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475 static StackType_t uxIdleTaskStack[ configMINIMAL_STACK_SIZE ];
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477 /* Pass out a pointer to the StaticTask_t structure in which the Idle task's
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478 state will be stored. */
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479 *ppxIdleTaskTCBBuffer = &xIdleTaskTCB;
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481 /* Pass out the array that will be used as the Idle task's stack. */
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482 *ppxIdleTaskStackBuffer = uxIdleTaskStack;
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484 /* Pass out the size of the array pointed to by *ppxIdleTaskStackBuffer.
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485 Note that, as the array is necessarily of type StackType_t,
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486 configMINIMAL_STACK_SIZE is specified in words, not bytes. */
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487 *pulIdleTaskStackSize = configMINIMAL_STACK_SIZE;
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489 /*-----------------------------------------------------------*/
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491 /* configUSE_STATIC_ALLOCATION and configUSE_TIMERS are both set to 1, so the
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492 application must provide an implementation of vApplicationGetTimerTaskMemory()
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493 to provide the memory that is used by the Timer service task. */
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494 void vApplicationGetTimerTaskMemory( StaticTask_t **ppxTimerTaskTCBBuffer, StackType_t **ppxTimerTaskStackBuffer, uint32_t *pulTimerTaskStackSize )
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496 /* If the buffers to be provided to the Timer task are declared inside this
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497 function then they must be declared static - otherwise they will be allocated on
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498 the stack and so not exists after this function exits. */
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499 static StaticTask_t xTimerTaskTCB;
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500 static StackType_t uxTimerTaskStack[ configTIMER_TASK_STACK_DEPTH ];
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502 /* Pass out a pointer to the StaticTask_t structure in which the Timer
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503 task's state will be stored. */
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504 *ppxTimerTaskTCBBuffer = &xTimerTaskTCB;
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506 /* Pass out the array that will be used as the Timer task's stack. */
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507 *ppxTimerTaskStackBuffer = uxTimerTaskStack;
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509 /* Pass out the size of the array pointed to by *ppxTimerTaskStackBuffer.
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510 Note that, as the array is necessarily of type StackType_t,
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511 configMINIMAL_STACK_SIZE is specified in words, not bytes. */
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512 *pulTimerTaskStackSize = configTIMER_TASK_STACK_DEPTH;
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