2 FreeRTOS V7.3.0 - Copyright (C) 2012 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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32 >>>NOTE<<< The modification to the GPL is included to allow you to
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33 distribute a combined work that includes FreeRTOS without being obliged to
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34 provide the source code for proprietary components outside of the FreeRTOS
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35 kernel. FreeRTOS is distributed in the hope that it will be useful, but
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36 WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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37 or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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38 more details. You should have received a copy of the GNU General Public
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39 License and the FreeRTOS license exception along with FreeRTOS; if not it
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40 can be viewed here: http://www.freertos.org/a00114.html and also obtained
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41 by writing to Richard Barry, contact details for whom are available on the
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46 ***************************************************************************
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48 * Having a problem? Start by reading the FAQ "My application does *
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49 * not run, what could be wrong?" *
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51 * http://www.FreeRTOS.org/FAQHelp.html *
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53 ***************************************************************************
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56 http://www.FreeRTOS.org - Documentation, training, latest versions, license
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57 and contact details.
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59 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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60 including FreeRTOS+Trace - an indispensable productivity tool.
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62 Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell
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63 the code with commercial support, indemnification, and middleware, under
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64 the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also
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65 provide a safety engineered and independently SIL3 certified version under
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66 the SafeRTOS brand: http://www.SafeRTOS.com.
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70 * Creates all the demo application tasks, then starts the scheduler. The WEB
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71 * documentation provides more details of the standard demo application tasks.
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72 * In addition to the standard demo tasks, the following tasks and tests are
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73 * defined and/or created within this file:
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75 * "Fast Interrupt Test" - A high frequency periodic interrupt is generated
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76 * using a free running timer to demonstrate the use of the
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77 * configKERNEL_INTERRUPT_PRIORITY configuration constant. The interrupt
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78 * service routine measures the number of processor clocks that occur between
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79 * each interrupt - and in so doing measures the jitter in the interrupt timing.
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80 * The maximum measured jitter time is latched in the ulMaxJitter variable, and
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81 * displayed on the LCD by the 'Check' task as described below. The
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82 * fast interrupt is configured and handled in the timertest.c source file.
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84 * "LCD" task - the LCD task is a 'gatekeeper' task. It is the only task that
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85 * is permitted to access the display directly. Other tasks wishing to write a
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86 * message to the LCD send the message on a queue to the LCD task instead of
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87 * accessing the LCD themselves. The LCD task just blocks on the queue waiting
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88 * for messages - waking and displaying the messages as they arrive.
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90 * "Check" task - This only executes every five seconds but has the highest
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91 * priority so is guaranteed to get processor time. Its main function is to
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92 * check that all the standard demo tasks are still operational. Should any
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93 * unexpected behaviour within a demo task be discovered the 'check' task will
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94 * write an error to the LCD (via the LCD task). If all the demo tasks are
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95 * executing with their expected behaviour then the check task writes PASS
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96 * along with the max jitter time to the LCD (again via the LCD task), as
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101 /* Standard includes. */
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104 /* Scheduler includes. */
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105 #include "FreeRTOS.h"
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109 /* Library includes. */
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110 #include "stm32f10x_it.h"
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112 /* Demo app includes. */
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114 #include "LCD_Message.h"
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115 #include "BlockQ.h"
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117 #include "integer.h"
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118 #include "blocktim.h"
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119 #include "partest.h"
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120 #include "semtest.h"
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123 #include "comtest2.h"
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125 /* Task priorities. */
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126 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
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127 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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128 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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129 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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130 #define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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131 #define mainFLASH_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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132 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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133 #define mainINTEGER_TASK_PRIORITY ( tskIDLE_PRIORITY )
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135 /* Constants related to the LCD. */
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136 #define mainMAX_LINE ( 240 )
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137 #define mainROW_INCREMENT ( 24 )
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138 #define mainMAX_COLUMN ( 20 )
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139 #define mainCOLUMN_START ( 319 )
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140 #define mainCOLUMN_INCREMENT ( 16 )
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142 /* The maximum number of message that can be waiting for display at any one
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144 #define mainLCD_QUEUE_SIZE ( 3 )
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146 /* The check task uses the sprintf function so requires a little more stack. */
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147 #define mainCHECK_TASK_STACK_SIZE ( configMINIMAL_STACK_SIZE + 50 )
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149 /* Dimensions the buffer into which the jitter time is written. */
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150 #define mainMAX_MSG_LEN 25
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152 /* The time between cycles of the 'check' task. */
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153 #define mainCHECK_DELAY ( ( portTickType ) 5000 / portTICK_RATE_MS )
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155 /* The number of nano seconds between each processor clock. */
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156 #define mainNS_PER_CLOCK ( ( unsigned portLONG ) ( ( 1.0 / ( double ) configCPU_CLOCK_HZ ) * 1000000000.0 ) )
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158 /* Baud rate used by the comtest tasks. */
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159 #define mainCOM_TEST_BAUD_RATE ( 115200 )
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161 /* The LED used by the comtest tasks. See the comtest.c file for more
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163 #define mainCOM_TEST_LED ( 3 )
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165 /*-----------------------------------------------------------*/
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168 * Configure the clocks, GPIO and other peripherals as required by the demo.
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170 static void prvSetupHardware( void );
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173 * Configure the LCD as required by the demo.
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175 static void prvConfigureLCD( void );
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178 * The LCD is written two by more than one task so is controlled by a
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179 * 'gatekeeper' task. This is the only task that is actually permitted to
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180 * access the LCD directly. Other tasks wanting to display a message send
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181 * the message to the gatekeeper.
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183 static void vLCDTask( void *pvParameters );
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186 * Retargets the C library printf function to the USART.
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188 int fputc( int ch, FILE *f );
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191 * Checks the status of all the demo tasks then prints a message to the
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192 * display. The message will be either PASS - and include in brackets the
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193 * maximum measured jitter time (as described at the to of the file), or a
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194 * message that describes which of the standard demo tasks an error has been
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197 * Messages are not written directly to the terminal, but passed to vLCDTask
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200 static void vCheckTask( void *pvParameters );
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203 * Configures the timers and interrupts for the fast interrupt test as
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204 * described at the top of this file.
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206 extern void vSetupTimerTest( void );
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208 /*-----------------------------------------------------------*/
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210 /* The queue used to send messages to the LCD task. */
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211 xQueueHandle xLCDQueue;
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213 /*-----------------------------------------------------------*/
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221 prvSetupHardware();
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223 /* Create the queue used by the LCD task. Messages for display on the LCD
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224 are received via this queue. */
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225 xLCDQueue = xQueueCreate( mainLCD_QUEUE_SIZE, sizeof( xLCDMessage ) );
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227 /* Start the standard demo tasks. */
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228 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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229 vCreateBlockTimeTasks();
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230 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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231 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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232 vStartIntegerMathTasks( mainINTEGER_TASK_PRIORITY );
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233 vStartLEDFlashTasks( mainFLASH_TASK_PRIORITY );
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234 vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
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236 /* Start the tasks defined within this file/specific to this demo. */
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237 xTaskCreate( vCheckTask, ( signed portCHAR * ) "Check", mainCHECK_TASK_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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238 xTaskCreate( vLCDTask, ( signed portCHAR * ) "LCD", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
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240 /* The suicide tasks must be created last as they need to know how many
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241 tasks were running prior to their creation in order to ascertain whether
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242 or not the correct/expected number of tasks are running at any given time. */
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243 vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
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245 /* Configure the timers used by the fast interrupt timer test. */
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248 /* Start the scheduler. */
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249 vTaskStartScheduler();
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251 /* Will only get here if there was not enough heap space to create the
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255 /*-----------------------------------------------------------*/
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257 void vLCDTask( void *pvParameters )
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259 xLCDMessage xMessage;
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261 /* Initialise the LCD and display a startup message. */
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263 LCD_DrawMonoPict( ( unsigned portLONG * ) pcBitmap );
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267 /* Wait for a message to arrive that requires displaying. */
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268 while( xQueueReceive( xLCDQueue, &xMessage, portMAX_DELAY ) != pdPASS );
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270 /* Display the message. Print each message to a different position. */
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271 printf( ( portCHAR const * ) xMessage.pcMessage );
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274 /*-----------------------------------------------------------*/
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276 static void vCheckTask( void *pvParameters )
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278 portTickType xLastExecutionTime;
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279 xLCDMessage xMessage;
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280 static signed portCHAR cPassMessage[ mainMAX_MSG_LEN ];
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281 extern unsigned portSHORT usMaxJitter;
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283 xLastExecutionTime = xTaskGetTickCount();
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284 xMessage.pcMessage = cPassMessage;
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288 /* Perform this check every mainCHECK_DELAY milliseconds. */
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289 vTaskDelayUntil( &xLastExecutionTime, mainCHECK_DELAY );
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291 /* Has an error been found in any task? */
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293 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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295 xMessage.pcMessage = "ERROR IN BLOCK Q\n";
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297 else if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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299 xMessage.pcMessage = "ERROR IN BLOCK TIME\n";
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301 else if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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303 xMessage.pcMessage = "ERROR IN SEMAPHORE\n";
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305 else if( xArePollingQueuesStillRunning() != pdTRUE )
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307 xMessage.pcMessage = "ERROR IN POLL Q\n";
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309 else if( xIsCreateTaskStillRunning() != pdTRUE )
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311 xMessage.pcMessage = "ERROR IN CREATE\n";
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313 else if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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315 xMessage.pcMessage = "ERROR IN MATH\n";
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317 else if( xAreComTestTasksStillRunning() != pdTRUE )
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319 xMessage.pcMessage = "ERROR IN COM TEST\n";
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323 sprintf( ( portCHAR * ) cPassMessage, "PASS [%uns]\n", ( ( unsigned portLONG ) usMaxJitter ) * mainNS_PER_CLOCK );
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326 /* Send the message to the LCD gatekeeper for display. */
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327 xQueueSend( xLCDQueue, &xMessage, portMAX_DELAY );
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330 /*-----------------------------------------------------------*/
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332 static void prvSetupHardware( void )
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334 /* Start with the clocks in their expected state. */
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337 /* Enable HSE (high speed external clock). */
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338 RCC_HSEConfig( RCC_HSE_ON );
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340 /* Wait till HSE is ready. */
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341 while( RCC_GetFlagStatus( RCC_FLAG_HSERDY ) == RESET )
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345 /* 2 wait states required on the flash. */
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346 *( ( unsigned portLONG * ) 0x40022000 ) = 0x02;
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348 /* HCLK = SYSCLK */
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349 RCC_HCLKConfig( RCC_SYSCLK_Div1 );
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352 RCC_PCLK2Config( RCC_HCLK_Div1 );
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354 /* PCLK1 = HCLK/2 */
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355 RCC_PCLK1Config( RCC_HCLK_Div2 );
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357 /* PLLCLK = 8MHz * 9 = 72 MHz. */
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358 RCC_PLLConfig( RCC_PLLSource_HSE_Div1, RCC_PLLMul_9 );
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361 RCC_PLLCmd( ENABLE );
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363 /* Wait till PLL is ready. */
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364 while(RCC_GetFlagStatus(RCC_FLAG_PLLRDY) == RESET)
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368 /* Select PLL as system clock source. */
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369 RCC_SYSCLKConfig( RCC_SYSCLKSource_PLLCLK );
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371 /* Wait till PLL is used as system clock source. */
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372 while( RCC_GetSYSCLKSource() != 0x08 )
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376 /* Enable GPIOA, GPIOB, GPIOC, GPIOD, GPIOE and AFIO clocks */
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377 RCC_APB2PeriphClockCmd( RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOB |RCC_APB2Periph_GPIOC
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378 | RCC_APB2Periph_GPIOD | RCC_APB2Periph_GPIOE | RCC_APB2Periph_AFIO, ENABLE );
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380 /* SPI2 Periph clock enable */
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381 RCC_APB1PeriphClockCmd( RCC_APB1Periph_SPI2, ENABLE );
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384 /* Set the Vector Table base address at 0x08000000 */
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385 NVIC_SetVectorTable( NVIC_VectTab_FLASH, 0x0 );
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387 NVIC_PriorityGroupConfig( NVIC_PriorityGroup_4 );
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389 /* Configure HCLK clock as SysTick clock source. */
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390 SysTick_CLKSourceConfig( SysTick_CLKSource_HCLK );
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392 vParTestInitialise();
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394 /*-----------------------------------------------------------*/
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396 static void prvConfigureLCD( void )
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398 GPIO_InitTypeDef GPIO_InitStructure;
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400 /* Configure LCD Back Light (PA8) as output push-pull */
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401 GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8;
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402 GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
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403 GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
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404 GPIO_Init( GPIOA, &GPIO_InitStructure );
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406 /* Set the Backlight Pin */
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407 GPIO_WriteBit(GPIOA, GPIO_Pin_8, Bit_SET);
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409 /* Initialize the LCD */
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412 /* Set the Back Color */
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413 LCD_SetBackColor( White );
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415 /* Set the Text Color */
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416 LCD_SetTextColor( 0x051F );
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420 /*-----------------------------------------------------------*/
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422 int fputc( int ch, FILE *f )
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424 static unsigned portSHORT usColumn = 0, usRefColumn = mainCOLUMN_START;
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425 static unsigned portCHAR ucLine = 0;
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427 if( ( usColumn == 0 ) && ( ucLine == 0 ) )
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434 /* Display one character on LCD */
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435 LCD_DisplayChar( ucLine, usRefColumn, (u8) ch );
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437 /* Decrement the column position by 16 */
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438 usRefColumn -= mainCOLUMN_INCREMENT;
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440 /* Increment the character counter */
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442 if( usColumn == mainMAX_COLUMN )
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444 ucLine += mainROW_INCREMENT;
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445 usRefColumn = mainCOLUMN_START;
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451 /* Move back to the first column of the next line. */
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452 ucLine += mainROW_INCREMENT;
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453 usRefColumn = mainCOLUMN_START;
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457 /* Wrap back to the top of the display. */
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458 if( ucLine >= mainMAX_LINE )
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465 /*-----------------------------------------------------------*/
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468 /* Keep the linker happy. */
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469 void assert_failed( unsigned portCHAR* pcFile, unsigned portLONG ulLine )
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