2 FreeRTOS V7.4.2 - Copyright (C) 2013 Real Time Engineers Ltd.
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4 FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME. PLEASE VISIT
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5 http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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7 ***************************************************************************
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9 * FreeRTOS tutorial books are available in pdf and paperback. *
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10 * Complete, revised, and edited pdf reference manuals are also *
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13 * Purchasing FreeRTOS documentation will not only help you, by *
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14 * ensuring you get running as quickly as possible and with an *
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15 * in-depth knowledge of how to use FreeRTOS, it will also help *
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16 * the FreeRTOS project to continue with its mission of providing *
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17 * professional grade, cross platform, de facto standard solutions *
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18 * for microcontrollers - completely free of charge! *
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20 * >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
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22 * Thank you for using FreeRTOS, and thank you for your support! *
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24 ***************************************************************************
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27 This file is part of the FreeRTOS distribution.
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29 FreeRTOS is free software; you can redistribute it and/or modify it under
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30 the terms of the GNU General Public License (version 2) as published by the
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31 Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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33 >>>>>>NOTE<<<<<< The modification to the GPL is included to allow you to
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34 distribute a combined work that includes FreeRTOS without being obliged to
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35 provide the source code for proprietary components outside of the FreeRTOS
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38 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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39 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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40 FOR A PARTICULAR PURPOSE. See the GNU General Public License for more
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41 details. You should have received a copy of the GNU General Public License
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42 and the FreeRTOS license exception along with FreeRTOS; if not it can be
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43 viewed here: http://www.freertos.org/a00114.html and also obtained by
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44 writing to Real Time Engineers Ltd., contact details for whom are available
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45 on the FreeRTOS WEB site.
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49 ***************************************************************************
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51 * Having a problem? Start by reading the FAQ "My application does *
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52 * not run, what could be wrong?" *
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54 * http://www.FreeRTOS.org/FAQHelp.html *
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56 ***************************************************************************
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59 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
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60 license and Real Time Engineers Ltd. contact details.
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62 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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63 including FreeRTOS+Trace - an indispensable productivity tool, and our new
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64 fully thread aware and reentrant UDP/IP stack.
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66 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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67 Integrity Systems, who sell the code with commercial support,
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68 indemnification and middleware, under the OpenRTOS brand.
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70 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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71 engineered and independently SIL3 certified version for use in safety and
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72 mission critical applications that require provable dependability.
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77 * Creates all the demo application tasks, then starts the scheduler. The WEB
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78 * documentation provides more details of the standard demo application tasks.
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79 * In addition to the standard demo tasks, the following tasks and tests are
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80 * defined and/or created within this file:
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82 * "Fast Interrupt Test" - A high frequency periodic interrupt is generated
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83 * using a free running timer to demonstrate the use of the
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84 * configKERNEL_INTERRUPT_PRIORITY configuration constant. The interrupt
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85 * service routine measures the number of processor clocks that occur between
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86 * each interrupt - and in so doing measures the jitter in the interrupt timing.
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87 * The maximum measured jitter time is latched in the ulMaxJitter variable, and
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88 * displayed on the OLED display by the 'OLED' task as described below. The
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89 * fast interrupt is configured and handled in the timertest.c source file.
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91 * "OLED" task - the OLED task is a 'gatekeeper' task. It is the only task that
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92 * is permitted to access the display directly. Other tasks wishing to write a
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93 * message to the OLED send the message on a queue to the OLED task instead of
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94 * accessing the OLED themselves. The OLED task just blocks on the queue waiting
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95 * for messages - waking and displaying the messages as they arrive.
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97 * "Check" hook - This only executes every five seconds from the tick hook.
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98 * Its main function is to check that all the standard demo tasks are still
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99 * operational. Should any unexpected behaviour within a demo task be discovered
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100 * the tick hook will write an error to the OLED (via the OLED task). If all the
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101 * demo tasks are executing with their expected behaviour then the check task
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102 * writes PASS to the OLED (again via the OLED task), as described above.
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104 * "uIP" task - This is the task that handles the uIP stack. All TCP/IP
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105 * processing is performed in this task.
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111 /*************************************************************************
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112 * Please ensure to read http://www.freertos.org/portLM3Sxxxx_Eclipse.html
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113 * which provides information on configuring and running this demo for the
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114 * various Luminary Micro EKs.
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115 *************************************************************************/
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120 /* Standard includes. */
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123 /* Scheduler includes. */
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124 #include "FreeRTOS.h"
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127 #include "semphr.h"
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129 /* Hardware library includes. */
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130 #include "hw_memmap.h"
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131 #include "hw_types.h"
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132 #include "hw_sysctl.h"
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133 #include "sysctl.h"
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136 #include "rit128x96x4.h"
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137 #include "osram128x64x4.h"
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138 #include "formike128x128x16.h"
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140 /* Demo app includes. */
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141 #include "BlockQ.h"
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143 #include "integer.h"
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144 #include "blocktim.h"
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146 #include "partest.h"
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147 #include "semtest.h"
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149 #include "lcd_message.h"
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150 #include "bitmap.h"
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151 #include "GenQTest.h"
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153 #include "recmutex.h"
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154 #include "IntQueue.h"
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155 #include "QueueSet.h"
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157 /*-----------------------------------------------------------*/
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159 /* The time between cycles of the 'check' functionality (defined within the
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161 #define mainCHECK_DELAY ( ( portTickType ) 5000 / portTICK_RATE_MS )
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163 /* Size of the stack allocated to the uIP task. */
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164 #define mainBASIC_WEB_STACK_SIZE ( configMINIMAL_STACK_SIZE * 3 )
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166 /* The OLED task uses the sprintf function so requires a little more stack too. */
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167 #define mainOLED_TASK_STACK_SIZE ( configMINIMAL_STACK_SIZE + 50 )
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169 /* Task priorities. */
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170 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
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171 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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172 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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173 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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174 #define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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175 #define mainINTEGER_TASK_PRIORITY ( tskIDLE_PRIORITY )
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176 #define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )
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178 /* The maximum number of message that can be waiting for display at any one
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180 #define mainOLED_QUEUE_SIZE ( 3 )
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182 /* Dimensions the buffer into which the jitter time is written. */
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183 #define mainMAX_MSG_LEN 25
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185 /* The period of the system clock in nano seconds. This is used to calculate
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186 the jitter time in nano seconds. */
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187 #define mainNS_PER_CLOCK ( ( unsigned long ) ( ( 1.0 / ( double ) configCPU_CLOCK_HZ ) * 1000000000.0 ) )
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189 /* Constants used when writing strings to the display. */
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190 #define mainCHARACTER_HEIGHT ( 9 )
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191 #define mainMAX_ROWS_128 ( mainCHARACTER_HEIGHT * 14 )
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192 #define mainMAX_ROWS_96 ( mainCHARACTER_HEIGHT * 10 )
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193 #define mainMAX_ROWS_64 ( mainCHARACTER_HEIGHT * 7 )
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194 #define mainFULL_SCALE ( 15 )
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195 #define ulSSI_FREQUENCY ( 3500000UL )
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197 /*-----------------------------------------------------------*/
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200 * The task that handles the uIP stack. All TCP/IP processing is performed in
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203 extern void vuIP_Task( void *pvParameters );
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206 * The display is written two by more than one task so is controlled by a
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207 * 'gatekeeper' task. This is the only task that is actually permitted to
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208 * access the display directly. Other tasks wanting to display a message send
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209 * the message to the gatekeeper.
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211 static void vOLEDTask( void *pvParameters );
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214 * Configure the hardware for the demo.
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216 static void prvSetupHardware( void );
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219 * Configures the high frequency timers - those used to measure the timing
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220 * jitter while the real time kernel is executing.
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222 extern void vSetupHighFrequencyTimer( void );
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225 * The idle hook is used to run a test of the scheduler context switch
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228 void vApplicationIdleHook( void ) __attribute__((naked));
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229 /*-----------------------------------------------------------*/
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231 /* The queue used to send messages to the OLED task. */
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232 xQueueHandle xOLEDQueue;
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234 /* The welcome text. */
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235 const char * const pcWelcomeMessage = " www.FreeRTOS.org";
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237 /* Variables used to detect the test in the idle hook failing. */
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238 unsigned long ulIdleError = pdFALSE;
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240 /*-----------------------------------------------------------*/
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242 /*************************************************************************
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243 * Please ensure to read http://www.freertos.org/portLM3Sxxxx_Eclipse.html
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244 * which provides information on configuring and running this demo for the
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245 * various Luminary Micro EKs.
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246 *************************************************************************/
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249 prvSetupHardware();
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251 /* Create the queue used by the OLED task. Messages for display on the OLED
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252 are received via this queue. */
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253 xOLEDQueue = xQueueCreate( mainOLED_QUEUE_SIZE, sizeof( xOLEDMessage ) );
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255 /* Create the uIP task if running on a processor that includes a MAC and
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257 if( SysCtlPeripheralPresent( SYSCTL_PERIPH_ETH ) )
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259 xTaskCreate( vuIP_Task, ( signed char * ) "uIP", mainBASIC_WEB_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY - 1, NULL );
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262 /* Start the standard demo tasks. */
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263 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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264 vCreateBlockTimeTasks();
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265 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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266 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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267 vStartIntegerMathTasks( mainINTEGER_TASK_PRIORITY );
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268 vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
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269 vStartQueuePeekTasks();
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270 vStartRecursiveMutexTasks();
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271 vStartInterruptQueueTasks();
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272 vStartQueueSetTasks();
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274 /* Start the tasks defined within this file/specific to this demo. */
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275 xTaskCreate( vOLEDTask, ( signed char * ) "OLED", mainOLED_TASK_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
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277 /* The suicide tasks must be created last as they need to know how many
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278 tasks were running prior to their creation in order to ascertain whether
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279 or not the correct/expected number of tasks are running at any given time. */
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280 vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
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282 /* Configure the high frequency interrupt used to measure the interrupt
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284 vSetupHighFrequencyTimer();
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286 /* Start the scheduler. */
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287 vTaskStartScheduler();
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289 /* Will only get here if there was insufficient memory to create the idle
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294 /*-----------------------------------------------------------*/
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296 void prvSetupHardware( void )
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298 /* If running on Rev A2 silicon, turn the LDO voltage up to 2.75V. This is
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299 a workaround to allow the PLL to operate reliably. */
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300 if( DEVICE_IS_REVA2 )
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302 SysCtlLDOSet( SYSCTL_LDO_2_75V );
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305 /* Set the clocking to run from the PLL at 50 MHz */
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306 SysCtlClockSet( SYSCTL_SYSDIV_4 | SYSCTL_USE_PLL | SYSCTL_OSC_MAIN | SYSCTL_XTAL_8MHZ );
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308 /* Enable Port F for Ethernet LEDs
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310 LED1 Bit 2 Output */
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311 SysCtlPeripheralEnable( SYSCTL_PERIPH_GPIOF );
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312 GPIODirModeSet( GPIO_PORTF_BASE, (GPIO_PIN_2 | GPIO_PIN_3), GPIO_DIR_MODE_HW );
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313 GPIOPadConfigSet( GPIO_PORTF_BASE, (GPIO_PIN_2 | GPIO_PIN_3 ), GPIO_STRENGTH_2MA, GPIO_PIN_TYPE_STD );
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315 vParTestInitialise();
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317 /*-----------------------------------------------------------*/
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319 void vApplicationTickHook( void )
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321 static xOLEDMessage xMessage = { "PASS" };
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322 static unsigned long ulTicksSinceLastDisplay = 0;
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323 portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
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325 /* Called from every tick interrupt. Have enough ticks passed to make it
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326 time to perform our health status check again? */
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327 ulTicksSinceLastDisplay++;
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328 if( ulTicksSinceLastDisplay >= mainCHECK_DELAY )
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330 ulTicksSinceLastDisplay = 0;
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332 /* Has an error been found in any task? */
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333 if( xAreGenericQueueTasksStillRunning() != pdTRUE )
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335 xMessage.pcMessage = "ERROR IN GEN Q";
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337 else if( xAreQueuePeekTasksStillRunning() != pdTRUE )
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339 xMessage.pcMessage = "ERROR IN PEEK Q";
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341 else if( xAreBlockingQueuesStillRunning() != pdTRUE )
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343 xMessage.pcMessage = "ERROR IN BLOCK Q";
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345 else if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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347 xMessage.pcMessage = "ERROR IN BLOCK TIME";
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349 else if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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351 xMessage.pcMessage = "ERROR IN SEMAPHORE";
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353 else if( xArePollingQueuesStillRunning() != pdTRUE )
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355 xMessage.pcMessage = "ERROR IN POLL Q";
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357 else if( xIsCreateTaskStillRunning() != pdTRUE )
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359 xMessage.pcMessage = "ERROR IN CREATE";
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361 else if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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363 xMessage.pcMessage = "ERROR IN MATH";
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365 else if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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367 xMessage.pcMessage = "ERROR IN REC MUTEX";
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369 else if( ulIdleError != pdFALSE )
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371 xMessage.pcMessage = "ERROR IN HOOK";
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373 else if( xAreIntQueueTasksStillRunning() != pdTRUE )
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375 xMessage.pcMessage = "ERROR IN INT QUEUE";
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377 else if( xAreQueueSetTasksStillRunning() != pdTRUE )
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379 xMessage.pcMessage = "ERROR IN QUEUE SET";
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382 /* Send the message to the OLED gatekeeper for display. */
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383 xHigherPriorityTaskWoken = pdFALSE;
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384 xQueueSendFromISR( xOLEDQueue, &xMessage, &xHigherPriorityTaskWoken );
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387 /* Exercise the queue sets from an ISR. */
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388 vQueueSetAccessQueueSetFromISR();
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390 /*-----------------------------------------------------------*/
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392 void vOLEDTask( void *pvParameters )
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394 xOLEDMessage xMessage;
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395 unsigned long ulY, ulMaxY;
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396 static char cMessage[ mainMAX_MSG_LEN ];
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397 extern volatile unsigned long ulMaxJitter;
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398 unsigned portBASE_TYPE uxUnusedStackOnEntry;
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399 const unsigned char *pucImage;
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401 /* Functions to access the OLED. The one used depends on the dev kit
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403 void ( *vOLEDInit )( unsigned long ) = NULL;
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404 void ( *vOLEDStringDraw )( const char *, unsigned long, unsigned long, unsigned char ) = NULL;
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405 void ( *vOLEDImageDraw )( const unsigned char *, unsigned long, unsigned long, unsigned long, unsigned long ) = NULL;
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406 void ( *vOLEDClear )( void ) = NULL;
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408 /* Just for demo purposes. */
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409 uxUnusedStackOnEntry = uxTaskGetStackHighWaterMark( NULL );
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411 /* Map the OLED access functions to the driver functions that are appropriate
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412 for the evaluation kit being used. */
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413 switch( HWREG( SYSCTL_DID1 ) & SYSCTL_DID1_PRTNO_MASK )
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415 case SYSCTL_DID1_PRTNO_6965 :
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416 case SYSCTL_DID1_PRTNO_2965 : vOLEDInit = OSRAM128x64x4Init;
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417 vOLEDStringDraw = OSRAM128x64x4StringDraw;
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418 vOLEDImageDraw = OSRAM128x64x4ImageDraw;
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419 vOLEDClear = OSRAM128x64x4Clear;
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420 ulMaxY = mainMAX_ROWS_64;
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421 pucImage = pucBasicBitmap;
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424 case SYSCTL_DID1_PRTNO_1968 :
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425 case SYSCTL_DID1_PRTNO_8962 : vOLEDInit = RIT128x96x4Init;
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426 vOLEDStringDraw = RIT128x96x4StringDraw;
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427 vOLEDImageDraw = RIT128x96x4ImageDraw;
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428 vOLEDClear = RIT128x96x4Clear;
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429 ulMaxY = mainMAX_ROWS_96;
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430 pucImage = pucBasicBitmap;
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433 default : vOLEDInit = vFormike128x128x16Init;
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434 vOLEDStringDraw = vFormike128x128x16StringDraw;
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435 vOLEDImageDraw = vFormike128x128x16ImageDraw;
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436 vOLEDClear = vFormike128x128x16Clear;
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437 ulMaxY = mainMAX_ROWS_128;
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438 pucImage = pucGrLibBitmap;
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444 /* Initialise the OLED and display a startup message. */
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445 vOLEDInit( ulSSI_FREQUENCY );
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446 vOLEDStringDraw( "POWERED BY FreeRTOS", 0, 0, mainFULL_SCALE );
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447 vOLEDImageDraw( pucImage, 0, mainCHARACTER_HEIGHT + 1, bmpBITMAP_WIDTH, bmpBITMAP_HEIGHT );
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451 /* Wait for a message to arrive that requires displaying. */
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452 xQueueReceive( xOLEDQueue, &xMessage, portMAX_DELAY );
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454 /* Write the message on the next available row. */
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455 ulY += mainCHARACTER_HEIGHT;
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456 if( ulY >= ulMaxY )
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458 ulY = mainCHARACTER_HEIGHT;
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460 vOLEDStringDraw( pcWelcomeMessage, 0, 0, mainFULL_SCALE );
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463 /* Display the message along with the maximum jitter time from the
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464 high priority time test. */
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465 sprintf( cMessage, "%s [%uns]", xMessage.pcMessage, ulMaxJitter * mainNS_PER_CLOCK );
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466 vOLEDStringDraw( cMessage, 0, ulY, mainFULL_SCALE );
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469 /*-----------------------------------------------------------*/
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471 void vApplicationStackOverflowHook( xTaskHandle pxTask, signed char *pcTaskName )
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475 /*-----------------------------------------------------------*/
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477 void vApplicationMallocFailedHook( void )
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481 /*-----------------------------------------------------------*/
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483 /* Just to keep the linker happy. */
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484 void __error__( char *pcFilename, unsigned long ulLine )
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489 int uipprintf( const char *fmt, ... )
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