2 FreeRTOS V8.0.0:rc1 - 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 ***************************************************************************
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9 * FreeRTOS provides completely free yet professionally developed, *
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10 * robust, strictly quality controlled, supported, and cross *
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11 * platform software that has become a de facto standard. *
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13 * Help yourself get started quickly and support the FreeRTOS *
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14 * project by purchasing a FreeRTOS tutorial book, reference *
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15 * manual, or both from: http://www.FreeRTOS.org/Documentation *
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19 ***************************************************************************
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21 This file is part of the FreeRTOS distribution.
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23 FreeRTOS is free software; you can redistribute it and/or modify it under
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24 the terms of the GNU General Public License (version 2) as published by the
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25 Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
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27 >>! NOTE: The modification to the GPL is included to allow you to distribute
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28 >>! a combined work that includes FreeRTOS without being obliged to provide
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29 >>! the source code for proprietary components outside of the FreeRTOS
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32 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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33 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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34 FOR A PARTICULAR PURPOSE. Full license text is available from the following
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35 link: http://www.freertos.org/a00114.html
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39 ***************************************************************************
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41 * Having a problem? Start by reading the FAQ "My application does *
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42 * not run, what could be wrong?" *
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44 * http://www.FreeRTOS.org/FAQHelp.html *
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46 ***************************************************************************
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48 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
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49 license and Real Time Engineers Ltd. contact details.
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51 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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52 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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53 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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55 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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56 Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS
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57 licenses offer ticketed support, indemnification and middleware.
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59 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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60 engineered and independently SIL3 certified version for use in safety and
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61 mission critical applications that require provable dependability.
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66 /******************************************************************************
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67 * NOTE 1: This project provides two demo applications. A low power tickless
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68 * project, and a more comprehensive test and demo application. The
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69 * configCREATE_LOW_POWER_DEMO setting in FreeRTOSConfig.h is used to
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70 * select between the two. See the notes on using
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71 * configCREATE_LOW_POWER_DEMO in FreeRTOSConfig.h. This file implements
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72 * the comprehensive test and demo version.
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74 * NOTE 2: This file only contains the source code that is specific to the
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75 * full demo. Generic functions, such FreeRTOS hook functions, and functions
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76 * required to configure the hardware, are defined in main.c.
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77 ******************************************************************************
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79 * main_full() creates all the demo application tasks and a software timer, then
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80 * starts the scheduler. The web documentation provides more details of the
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81 * standard demo application tasks, which provide no particular functionality,
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82 * but do provide a good example of how to use the FreeRTOS API.
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84 * In addition to the standard demo tasks, the following tasks and tests are
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85 * defined and/or created within this file:
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87 * "Check" timer - The check software timer period is initially set to three
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88 * seconds. The callback function associated with the check software timer
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89 * checks that all the standard demo tasks are not only still executing, but
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90 * are executing without reporting any errors. If the check software timer
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91 * discovers that a task has either stalled, or reported an error, then it
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92 * changes its own execution period from the initial three seconds, to just
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93 * 200ms. The check software timer callback function also toggles an LED each
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94 * time it is called. This provides a visual indication of the system status:
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95 * If the LED toggles every three seconds, then no issues have been discovered.
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96 * If the LED toggles every 200ms, then an issue has been discovered with at
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99 * See the documentation page for this demo on the FreeRTOS.org web site for
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100 * full information, including hardware setup requirements.
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103 /* Standard includes. */
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106 /* Kernel includes. */
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107 #include "FreeRTOS.h"
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109 #include "timers.h"
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110 #include "semphr.h"
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112 /* Standard demo application includes. */
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114 #include "semtest.h"
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115 #include "dynamic.h"
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116 #include "BlockQ.h"
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117 #include "blocktim.h"
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118 #include "countsem.h"
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119 #include "GenQTest.h"
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120 #include "recmutex.h"
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122 /* ST library functions. */
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123 #include "stm32l1xx.h"
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124 #include "discover_board.h"
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125 #include "stm32l_discovery_lcd.h"
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127 /* Priorities for the demo application tasks. */
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128 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2UL )
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129 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1UL )
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130 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2UL )
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132 /* A block time of zero simply means "don't block". */
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133 #define mainDONT_BLOCK ( 0UL )
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135 /* The period after which the check timer will expire providing no errors
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136 have been reported by any of the standard demo tasks. ms are converted to the
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137 equivalent in ticks using the portTICK_PERIOD_MS constant. */
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138 #define mainCHECK_TIMER_PERIOD_MS ( 3000UL / portTICK_PERIOD_MS )
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140 /* The period at which the check timer will expire, in ms, if an error has been
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141 reported in one of the standard demo tasks. ms are converted to the equivalent
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142 in ticks using the portTICK_PERIOD_MS constant. */
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143 #define mainERROR_CHECK_TIMER_PERIOD_MS ( 200UL / portTICK_PERIOD_MS )
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145 /*-----------------------------------------------------------*/
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148 * The check timer callback function, as described at the top of this file.
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150 static void prvCheckTimerCallback( TimerHandle_t xTimer );
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153 * Configure the LCD, then write welcome message.
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155 static void prvConfigureLCD( void );
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157 /*-----------------------------------------------------------*/
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159 void main_full( void )
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161 TimerHandle_t xCheckTimer = NULL;
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163 /* The LCD is only used in the Full demo. */
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166 /* Start all the other standard demo/test tasks. They have not particular
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167 functionality, but do demonstrate how to use the FreeRTOS API and test the
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169 vStartDynamicPriorityTasks();
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170 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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171 vCreateBlockTimeTasks();
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172 vStartCountingSemaphoreTasks();
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173 vStartGenericQueueTasks( tskIDLE_PRIORITY );
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174 vStartRecursiveMutexTasks();
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175 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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176 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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178 /* Create the software timer that performs the 'check' functionality,
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179 as described at the top of this file. */
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180 xCheckTimer = xTimerCreate( "CheckTimer", /* A text name, purely to help debugging. */
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181 ( mainCHECK_TIMER_PERIOD_MS ), /* The timer period, in this case 3000ms (3s). */
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182 pdTRUE, /* This is an auto-reload timer, so xAutoReload is set to pdTRUE. */
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183 ( void * ) 0, /* The ID is not used, so can be set to anything. */
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184 prvCheckTimerCallback /* The callback function that inspects the status of all the other tasks. */
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187 if( xCheckTimer != NULL )
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189 xTimerStart( xCheckTimer, mainDONT_BLOCK );
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192 /* Start the scheduler. */
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193 vTaskStartScheduler();
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195 /* If all is well, the scheduler will now be running, and the following line
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196 will never be reached. If the following line does execute, then there was
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197 insufficient FreeRTOS heap memory available for the idle and/or timer tasks
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198 to be created. See the memory management section on the FreeRTOS web site
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199 for more details. */
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202 /*-----------------------------------------------------------*/
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204 static void prvCheckTimerCallback( TimerHandle_t xTimer )
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206 static long lChangedTimerPeriodAlready = pdFALSE;
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207 unsigned long ulErrorFound = pdFALSE;
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209 /* Check all the demo tasks to ensure they are all still running, and that
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210 none have detected an error. */
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212 if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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214 ulErrorFound = pdTRUE;
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217 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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219 ulErrorFound = pdTRUE;
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222 if ( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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224 ulErrorFound = pdTRUE;
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227 if ( xAreGenericQueueTasksStillRunning() != pdTRUE )
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229 ulErrorFound = pdTRUE;
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232 if ( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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234 ulErrorFound = pdTRUE;
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237 if( xArePollingQueuesStillRunning() != pdTRUE )
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239 ulErrorFound = pdTRUE;
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242 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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244 ulErrorFound = pdTRUE;
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247 /* Toggle the check LED to give an indication of the system status. If
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248 the LED toggles every mainCHECK_TIMER_PERIOD_MS milliseconds then
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249 everything is ok. A faster toggle indicates an error. */
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250 GPIO_TOGGLE( LD_GPIO_PORT, LD_GREEN_GPIO_PIN );
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252 /* Have any errors been latch in ulErrorFound? If so, shorten the
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253 period of the check timer to mainERROR_CHECK_TIMER_PERIOD_MS milliseconds.
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254 This will result in an increase in the rate at which mainCHECK_LED
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256 if( ulErrorFound != pdFALSE )
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258 if( lChangedTimerPeriodAlready == pdFALSE )
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260 lChangedTimerPeriodAlready = pdTRUE;
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262 /* This call to xTimerChangePeriod() uses a zero block time.
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263 Functions called from inside of a timer callback function must
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264 *never* attempt to block. */
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265 xTimerChangePeriod( xTimer, ( mainERROR_CHECK_TIMER_PERIOD_MS ), mainDONT_BLOCK );
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269 /*-----------------------------------------------------------*/
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271 static void prvConfigureLCD( void )
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273 GPIO_InitTypeDef GPIO_InitStructure;
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275 /* Enable necessary clocks. */
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276 RCC_AHBPeriphClockCmd( RCC_AHBPeriph_GPIOA | RCC_AHBPeriph_GPIOB | RCC_AHBPeriph_GPIOC, ENABLE );
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277 RCC_APB1PeriphClockCmd( RCC_APB1Periph_LCD, ENABLE );
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278 PWR_RTCAccessCmd( ENABLE );
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279 RCC_LSEConfig( ENABLE );
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280 RCC_RTCCLKConfig( RCC_RTCCLKSource_LSE );
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281 RCC_RTCCLKCmd( ENABLE );
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283 /* Configure Port A LCD Output pins as alternate function. */
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284 GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1 | GPIO_Pin_2 | GPIO_Pin_3 | GPIO_Pin_8 | GPIO_Pin_9 |GPIO_Pin_10 |GPIO_Pin_15;
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285 GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
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286 GPIO_Init( GPIOA, &GPIO_InitStructure );
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288 /* Select LCD alternate function for Port A LCD Output pins. */
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289 GPIO_PinAFConfig( GPIOA, GPIO_PinSource1, GPIO_AF_LCD );
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290 GPIO_PinAFConfig( GPIOA, GPIO_PinSource2, GPIO_AF_LCD );
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291 GPIO_PinAFConfig( GPIOA, GPIO_PinSource3, GPIO_AF_LCD );
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292 GPIO_PinAFConfig( GPIOA, GPIO_PinSource8, GPIO_AF_LCD );
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293 GPIO_PinAFConfig( GPIOA, GPIO_PinSource9, GPIO_AF_LCD );
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294 GPIO_PinAFConfig( GPIOA, GPIO_PinSource10, GPIO_AF_LCD );
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295 GPIO_PinAFConfig( GPIOA, GPIO_PinSource15, GPIO_AF_LCD );
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297 /* Configure Port B LCD Output pins as alternate function */
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298 GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3 | GPIO_Pin_4 | GPIO_Pin_5 | GPIO_Pin_8 | GPIO_Pin_9 | GPIO_Pin_10 | GPIO_Pin_11 | GPIO_Pin_12 | GPIO_Pin_13 | GPIO_Pin_14 | GPIO_Pin_15;
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299 GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
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300 GPIO_Init( GPIOB, &GPIO_InitStructure );
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302 /* Select LCD alternate function for Port B LCD Output pins */
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303 GPIO_PinAFConfig( GPIOB, GPIO_PinSource3, GPIO_AF_LCD );
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304 GPIO_PinAFConfig( GPIOB, GPIO_PinSource4, GPIO_AF_LCD );
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305 GPIO_PinAFConfig( GPIOB, GPIO_PinSource5, GPIO_AF_LCD );
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306 GPIO_PinAFConfig( GPIOB, GPIO_PinSource8, GPIO_AF_LCD );
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307 GPIO_PinAFConfig( GPIOB, GPIO_PinSource9, GPIO_AF_LCD );
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308 GPIO_PinAFConfig( GPIOB, GPIO_PinSource10, GPIO_AF_LCD );
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309 GPIO_PinAFConfig( GPIOB, GPIO_PinSource11, GPIO_AF_LCD );
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310 GPIO_PinAFConfig( GPIOB, GPIO_PinSource12, GPIO_AF_LCD );
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311 GPIO_PinAFConfig( GPIOB, GPIO_PinSource13, GPIO_AF_LCD );
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312 GPIO_PinAFConfig( GPIOB, GPIO_PinSource14, GPIO_AF_LCD );
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313 GPIO_PinAFConfig( GPIOB, GPIO_PinSource15, GPIO_AF_LCD );
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315 /* Configure Port C LCD Output pins as alternate function */
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316 GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1 | GPIO_Pin_2 | GPIO_Pin_3 | GPIO_Pin_6 | GPIO_Pin_7 | GPIO_Pin_8 | GPIO_Pin_9 | GPIO_Pin_10 |GPIO_Pin_11 ;
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317 GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
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318 GPIO_Init( GPIOC, &GPIO_InitStructure );
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320 /* Select LCD alternate function for Port B LCD Output pins */
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321 GPIO_PinAFConfig( GPIOC, GPIO_PinSource0, GPIO_AF_LCD );
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322 GPIO_PinAFConfig( GPIOC, GPIO_PinSource1, GPIO_AF_LCD );
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323 GPIO_PinAFConfig( GPIOC, GPIO_PinSource2, GPIO_AF_LCD );
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324 GPIO_PinAFConfig( GPIOC, GPIO_PinSource3, GPIO_AF_LCD );
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325 GPIO_PinAFConfig( GPIOC, GPIO_PinSource6, GPIO_AF_LCD );
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326 GPIO_PinAFConfig( GPIOC, GPIO_PinSource7, GPIO_AF_LCD );
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327 GPIO_PinAFConfig( GPIOC, GPIO_PinSource8, GPIO_AF_LCD );
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328 GPIO_PinAFConfig( GPIOC, GPIO_PinSource9, GPIO_AF_LCD );
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329 GPIO_PinAFConfig( GPIOC, GPIO_PinSource10, GPIO_AF_LCD );
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330 GPIO_PinAFConfig( GPIOC, GPIO_PinSource11, GPIO_AF_LCD );
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333 LCD_GLASS_DisplayString( "F'RTOS" );
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