2 FreeRTOS V8.2.0rc1 - Copyright (C) 2014 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 >>! NOTE: The modification to the GPL is included to allow you to !<<
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14 >>! distribute a combined work that includes FreeRTOS without being !<<
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15 >>! obliged to provide the source code for proprietary components !<<
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16 >>! outside of the FreeRTOS kernel. !<<
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18 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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19 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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20 FOR A PARTICULAR PURPOSE. Full license text is available on the following
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21 link: http://www.freertos.org/a00114.html
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25 ***************************************************************************
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27 * Having a problem? Start by reading the FAQ "My application does *
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28 * not run, what could be wrong?". Have you defined configASSERT()? *
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30 * http://www.FreeRTOS.org/FAQHelp.html *
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32 ***************************************************************************
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34 ***************************************************************************
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36 * FreeRTOS provides completely free yet professionally developed, *
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37 * robust, strictly quality controlled, supported, and cross *
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38 * platform software that is more than just the market leader, it *
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39 * is the industry's de facto standard. *
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41 * Help yourself get started quickly while simultaneously helping *
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42 * to support the FreeRTOS project by purchasing a FreeRTOS *
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43 * tutorial book, reference manual, or both: *
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44 * http://www.FreeRTOS.org/Documentation *
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46 ***************************************************************************
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48 ***************************************************************************
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50 * Investing in training allows your team to be as productive as *
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51 * possible as early as possible, lowering your overall development *
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52 * cost, and enabling you to bring a more robust product to market *
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53 * earlier than would otherwise be possible. Richard Barry is both *
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54 * the architect and key author of FreeRTOS, and so also the world's *
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55 * leading authority on what is the world's most popular real time *
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56 * kernel for deeply embedded MCU designs. Obtaining your training *
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57 * from Richard ensures your team will gain directly from his in-depth *
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58 * product knowledge and years of usage experience. Contact Real Time *
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59 * Engineers Ltd to enquire about the FreeRTOS Masterclass, presented *
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60 * by Richard Barry: http://www.FreeRTOS.org/contact
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62 ***************************************************************************
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64 ***************************************************************************
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66 * You are receiving this top quality software for free. Please play *
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67 * fair and reciprocate by reporting any suspected issues and *
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68 * participating in the community forum: *
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69 * http://www.FreeRTOS.org/support *
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73 ***************************************************************************
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75 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
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76 license and Real Time Engineers Ltd. contact details.
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78 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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79 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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80 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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82 http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
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83 Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
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85 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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86 Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
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87 licenses offer ticketed support, indemnification and commercial middleware.
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89 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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90 engineered and independently SIL3 certified version for use in safety and
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91 mission critical applications that require provable dependability.
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98 * Creates all the demo application tasks, then starts the scheduler. The WEB
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99 * documentation provides more details of the standard demo application tasks.
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100 * In addition to the standard demo tasks, the following tasks and tests are
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101 * defined and/or created within this file:
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103 * "Fast Interrupt Test" - A high frequency periodic interrupt is generated
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104 * using a free running timer to demonstrate the use of the
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105 * configKERNEL_INTERRUPT_PRIORITY configuration constant. The interrupt
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106 * service routine measures the number of processor clocks that occur between
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107 * each interrupt - and in so doing measures the jitter in the interrupt timing.
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108 * The maximum measured jitter time is latched in the ulMaxJitter variable, and
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109 * displayed on the OLED display by the 'OLED' task as described below. The
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110 * fast interrupt is configured and handled in the timertest.c source file.
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112 * "OLED" task - the OLED task is a 'gatekeeper' task. It is the only task that
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113 * is permitted to access the display directly. Other tasks wishing to write a
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114 * message to the OLED send the message on a queue to the OLED task instead of
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115 * accessing the OLED themselves. The OLED task just blocks on the queue waiting
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116 * for messages - waking and displaying the messages as they arrive.
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118 * "Check" hook - This only executes every five seconds from the tick hook.
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119 * Its main function is to check that all the standard demo tasks are still
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120 * operational. Should any unexpected behaviour within a demo task be discovered
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121 * the tick hook will write an error to the OLED (via the OLED task). If all the
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122 * demo tasks are executing with their expected behaviour then the check task
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123 * writes PASS to the OLED (again via the OLED task), as described above.
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125 * "uIP" task - This is the task that handles the uIP stack. All TCP/IP
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126 * processing is performed in this task.
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132 /*************************************************************************
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133 * Please ensure to read http://www.freertos.org/portLM3Sxxxx_Eclipse.html
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134 * which provides information on configuring and running this demo for the
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135 * various Luminary Micro EKs.
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136 *************************************************************************/
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141 /* Standard includes. */
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144 /* Scheduler includes. */
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145 #include "FreeRTOS.h"
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148 #include "semphr.h"
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150 /* Hardware library includes. */
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151 #include "hw_memmap.h"
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152 #include "hw_types.h"
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153 #include "hw_sysctl.h"
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154 #include "sysctl.h"
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157 #include "rit128x96x4.h"
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158 #include "osram128x64x4.h"
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159 #include "formike128x128x16.h"
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161 /* Demo app includes. */
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162 #include "BlockQ.h"
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164 #include "integer.h"
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165 #include "blocktim.h"
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167 #include "partest.h"
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168 #include "semtest.h"
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170 #include "lcd_message.h"
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171 #include "bitmap.h"
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172 #include "GenQTest.h"
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174 #include "recmutex.h"
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175 #include "IntQueue.h"
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176 #include "QueueSet.h"
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178 /*-----------------------------------------------------------*/
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180 /* The time between cycles of the 'check' functionality (defined within the
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182 #define mainCHECK_DELAY ( ( TickType_t ) 5000 / portTICK_PERIOD_MS )
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184 /* Size of the stack allocated to the uIP task. */
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185 #define mainBASIC_WEB_STACK_SIZE ( configMINIMAL_STACK_SIZE * 3 )
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187 /* The OLED task uses the sprintf function so requires a little more stack too. */
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188 #define mainOLED_TASK_STACK_SIZE ( configMINIMAL_STACK_SIZE + 50 )
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190 /* Task priorities. */
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191 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
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192 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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193 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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194 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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195 #define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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196 #define mainINTEGER_TASK_PRIORITY ( tskIDLE_PRIORITY )
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197 #define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )
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199 /* The maximum number of message that can be waiting for display at any one
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201 #define mainOLED_QUEUE_SIZE ( 3 )
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203 /* Dimensions the buffer into which the jitter time is written. */
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204 #define mainMAX_MSG_LEN 25
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206 /* The period of the system clock in nano seconds. This is used to calculate
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207 the jitter time in nano seconds. */
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208 #define mainNS_PER_CLOCK ( ( unsigned long ) ( ( 1.0 / ( double ) configCPU_CLOCK_HZ ) * 1000000000.0 ) )
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210 /* Constants used when writing strings to the display. */
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211 #define mainCHARACTER_HEIGHT ( 9 )
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212 #define mainMAX_ROWS_128 ( mainCHARACTER_HEIGHT * 14 )
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213 #define mainMAX_ROWS_96 ( mainCHARACTER_HEIGHT * 10 )
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214 #define mainMAX_ROWS_64 ( mainCHARACTER_HEIGHT * 7 )
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215 #define mainFULL_SCALE ( 15 )
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216 #define ulSSI_FREQUENCY ( 3500000UL )
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218 /*-----------------------------------------------------------*/
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221 * The task that handles the uIP stack. All TCP/IP processing is performed in
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224 extern void vuIP_Task( void *pvParameters );
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227 * The display is written two by more than one task so is controlled by a
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228 * 'gatekeeper' task. This is the only task that is actually permitted to
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229 * access the display directly. Other tasks wanting to display a message send
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230 * the message to the gatekeeper.
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232 static void vOLEDTask( void *pvParameters );
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235 * Configure the hardware for the demo.
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237 static void prvSetupHardware( void );
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240 * Configures the high frequency timers - those used to measure the timing
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241 * jitter while the real time kernel is executing.
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243 extern void vSetupHighFrequencyTimer( void );
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246 * The idle hook is used to run a test of the scheduler context switch
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249 void vApplicationIdleHook( void ) __attribute__((naked));
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250 /*-----------------------------------------------------------*/
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252 /* The queue used to send messages to the OLED task. */
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253 QueueHandle_t xOLEDQueue;
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255 /* The welcome text. */
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256 const char * const pcWelcomeMessage = " www.FreeRTOS.org";
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258 /* Variables used to detect the test in the idle hook failing. */
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259 unsigned long ulIdleError = pdFALSE;
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261 /*-----------------------------------------------------------*/
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263 /*************************************************************************
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264 * Please ensure to read http://www.freertos.org/portLM3Sxxxx_Eclipse.html
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265 * which provides information on configuring and running this demo for the
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266 * various Luminary Micro EKs.
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267 *************************************************************************/
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270 prvSetupHardware();
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272 /* Create the queue used by the OLED task. Messages for display on the OLED
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273 are received via this queue. */
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274 xOLEDQueue = xQueueCreate( mainOLED_QUEUE_SIZE, sizeof( xOLEDMessage ) );
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276 /* Create the uIP task if running on a processor that includes a MAC and
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278 if( SysCtlPeripheralPresent( SYSCTL_PERIPH_ETH ) )
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280 xTaskCreate( vuIP_Task, "uIP", mainBASIC_WEB_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY - 1, NULL );
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283 /* Start the standard demo tasks. */
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284 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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285 vCreateBlockTimeTasks();
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286 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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287 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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288 vStartIntegerMathTasks( mainINTEGER_TASK_PRIORITY );
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289 vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
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290 vStartQueuePeekTasks();
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291 vStartRecursiveMutexTasks();
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292 vStartInterruptQueueTasks();
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293 vStartQueueSetTasks();
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295 /* Start the tasks defined within this file/specific to this demo. */
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296 xTaskCreate( vOLEDTask, "OLED", mainOLED_TASK_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
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298 /* The suicide tasks must be created last as they need to know how many
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299 tasks were running prior to their creation in order to ascertain whether
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300 or not the correct/expected number of tasks are running at any given time. */
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301 vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
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303 /* Configure the high frequency interrupt used to measure the interrupt
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305 vSetupHighFrequencyTimer();
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307 /* Start the scheduler. */
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308 vTaskStartScheduler();
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310 /* Will only get here if there was insufficient memory to create the idle
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315 /*-----------------------------------------------------------*/
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317 void prvSetupHardware( void )
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319 /* If running on Rev A2 silicon, turn the LDO voltage up to 2.75V. This is
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320 a workaround to allow the PLL to operate reliably. */
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321 if( DEVICE_IS_REVA2 )
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323 SysCtlLDOSet( SYSCTL_LDO_2_75V );
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326 /* Set the clocking to run from the PLL at 50 MHz */
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327 SysCtlClockSet( SYSCTL_SYSDIV_4 | SYSCTL_USE_PLL | SYSCTL_OSC_MAIN | SYSCTL_XTAL_8MHZ );
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329 /* Enable Port F for Ethernet LEDs
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331 LED1 Bit 2 Output */
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332 SysCtlPeripheralEnable( SYSCTL_PERIPH_GPIOF );
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333 GPIODirModeSet( GPIO_PORTF_BASE, (GPIO_PIN_2 | GPIO_PIN_3), GPIO_DIR_MODE_HW );
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334 GPIOPadConfigSet( GPIO_PORTF_BASE, (GPIO_PIN_2 | GPIO_PIN_3 ), GPIO_STRENGTH_2MA, GPIO_PIN_TYPE_STD );
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336 vParTestInitialise();
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338 /*-----------------------------------------------------------*/
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340 void vApplicationTickHook( void )
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342 static xOLEDMessage xMessage = { "PASS" };
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343 static unsigned long ulTicksSinceLastDisplay = 0;
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344 portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
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346 /* Called from every tick interrupt. Have enough ticks passed to make it
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347 time to perform our health status check again? */
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348 ulTicksSinceLastDisplay++;
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349 if( ulTicksSinceLastDisplay >= mainCHECK_DELAY )
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351 ulTicksSinceLastDisplay = 0;
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353 /* Has an error been found in any task? */
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354 if( xAreGenericQueueTasksStillRunning() != pdTRUE )
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356 xMessage.pcMessage = "ERROR IN GEN Q";
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358 else if( xAreQueuePeekTasksStillRunning() != pdTRUE )
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360 xMessage.pcMessage = "ERROR IN PEEK Q";
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362 else if( xAreBlockingQueuesStillRunning() != pdTRUE )
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364 xMessage.pcMessage = "ERROR IN BLOCK Q";
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366 else if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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368 xMessage.pcMessage = "ERROR IN BLOCK TIME";
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370 else if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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372 xMessage.pcMessage = "ERROR IN SEMAPHORE";
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374 else if( xArePollingQueuesStillRunning() != pdTRUE )
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376 xMessage.pcMessage = "ERROR IN POLL Q";
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378 else if( xIsCreateTaskStillRunning() != pdTRUE )
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380 xMessage.pcMessage = "ERROR IN CREATE";
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382 else if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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384 xMessage.pcMessage = "ERROR IN MATH";
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386 else if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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388 xMessage.pcMessage = "ERROR IN REC MUTEX";
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390 else if( ulIdleError != pdFALSE )
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392 xMessage.pcMessage = "ERROR IN HOOK";
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394 else if( xAreIntQueueTasksStillRunning() != pdTRUE )
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396 xMessage.pcMessage = "ERROR IN INT QUEUE";
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398 else if( xAreQueueSetTasksStillRunning() != pdTRUE )
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400 xMessage.pcMessage = "ERROR IN QUEUE SET";
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403 /* Send the message to the OLED gatekeeper for display. */
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404 xHigherPriorityTaskWoken = pdFALSE;
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405 xQueueSendFromISR( xOLEDQueue, &xMessage, &xHigherPriorityTaskWoken );
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408 /* Exercise the queue sets from an ISR. */
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409 vQueueSetAccessQueueSetFromISR();
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411 /*-----------------------------------------------------------*/
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413 void vOLEDTask( void *pvParameters )
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415 xOLEDMessage xMessage;
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416 unsigned long ulY, ulMaxY;
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417 static char cMessage[ mainMAX_MSG_LEN ];
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418 extern volatile unsigned long ulMaxJitter;
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419 unsigned portBASE_TYPE uxUnusedStackOnEntry;
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420 const unsigned char *pucImage;
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422 /* Functions to access the OLED. The one used depends on the dev kit
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424 void ( *vOLEDInit )( unsigned long ) = NULL;
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425 void ( *vOLEDStringDraw )( const char *, unsigned long, unsigned long, unsigned char ) = NULL;
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426 void ( *vOLEDImageDraw )( const unsigned char *, unsigned long, unsigned long, unsigned long, unsigned long ) = NULL;
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427 void ( *vOLEDClear )( void ) = NULL;
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429 /* Just for demo purposes. */
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430 uxUnusedStackOnEntry = uxTaskGetStackHighWaterMark( NULL );
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432 /* Map the OLED access functions to the driver functions that are appropriate
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433 for the evaluation kit being used. */
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434 switch( HWREG( SYSCTL_DID1 ) & SYSCTL_DID1_PRTNO_MASK )
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436 case SYSCTL_DID1_PRTNO_6965 :
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437 case SYSCTL_DID1_PRTNO_2965 : vOLEDInit = OSRAM128x64x4Init;
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438 vOLEDStringDraw = OSRAM128x64x4StringDraw;
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439 vOLEDImageDraw = OSRAM128x64x4ImageDraw;
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440 vOLEDClear = OSRAM128x64x4Clear;
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441 ulMaxY = mainMAX_ROWS_64;
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442 pucImage = pucBasicBitmap;
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445 case SYSCTL_DID1_PRTNO_1968 :
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446 case SYSCTL_DID1_PRTNO_8962 : vOLEDInit = RIT128x96x4Init;
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447 vOLEDStringDraw = RIT128x96x4StringDraw;
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448 vOLEDImageDraw = RIT128x96x4ImageDraw;
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449 vOLEDClear = RIT128x96x4Clear;
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450 ulMaxY = mainMAX_ROWS_96;
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451 pucImage = pucBasicBitmap;
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454 default : vOLEDInit = vFormike128x128x16Init;
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455 vOLEDStringDraw = vFormike128x128x16StringDraw;
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456 vOLEDImageDraw = vFormike128x128x16ImageDraw;
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457 vOLEDClear = vFormike128x128x16Clear;
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458 ulMaxY = mainMAX_ROWS_128;
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459 pucImage = pucGrLibBitmap;
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465 /* Initialise the OLED and display a startup message. */
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466 vOLEDInit( ulSSI_FREQUENCY );
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467 vOLEDStringDraw( "POWERED BY FreeRTOS", 0, 0, mainFULL_SCALE );
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468 vOLEDImageDraw( pucImage, 0, mainCHARACTER_HEIGHT + 1, bmpBITMAP_WIDTH, bmpBITMAP_HEIGHT );
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472 /* Wait for a message to arrive that requires displaying. */
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473 xQueueReceive( xOLEDQueue, &xMessage, portMAX_DELAY );
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475 /* Write the message on the next available row. */
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476 ulY += mainCHARACTER_HEIGHT;
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477 if( ulY >= ulMaxY )
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479 ulY = mainCHARACTER_HEIGHT;
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481 vOLEDStringDraw( pcWelcomeMessage, 0, 0, mainFULL_SCALE );
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484 /* Display the message along with the maximum jitter time from the
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485 high priority time test. */
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486 sprintf( cMessage, "%s [%uns]", xMessage.pcMessage, ulMaxJitter * mainNS_PER_CLOCK );
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487 vOLEDStringDraw( cMessage, 0, ulY, mainFULL_SCALE );
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490 /*-----------------------------------------------------------*/
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492 void vApplicationStackOverflowHook( TaskHandle_t pxTask, char *pcTaskName )
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496 /*-----------------------------------------------------------*/
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498 void vApplicationMallocFailedHook( void )
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502 /*-----------------------------------------------------------*/
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504 /* Just to keep the linker happy. */
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505 void __error__( char *pcFilename, unsigned long ulLine )
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510 int uipprintf( const char *fmt, ... )
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