2 FreeRTOS V6.0.0 - Copyright (C) 2009 Real Time Engineers Ltd.
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4 This file is part of the FreeRTOS distribution.
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6 FreeRTOS is free software; you can redistribute it and/or modify it under
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7 the terms of the GNU General Public License (version 2) as published by the
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8 Free Software Foundation and modified by the FreeRTOS exception.
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9 **NOTE** The exception to the GPL is included to allow you to distribute a
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10 combined work that includes FreeRTOS without being obliged to provide the
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11 source code for proprietary components outside of the FreeRTOS kernel.
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12 Alternative commercial license and support terms are also available upon
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13 request. See the licensing section of http://www.FreeRTOS.org for full
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16 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT
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17 ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
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18 FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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21 You should have received a copy of the GNU General Public License along
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22 with FreeRTOS; if not, write to the Free Software Foundation, Inc., 59
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23 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
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26 ***************************************************************************
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28 * The FreeRTOS eBook and reference manual are available to purchase for a *
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29 * small fee. Help yourself get started quickly while also helping the *
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30 * FreeRTOS project! See http://www.FreeRTOS.org/Documentation for details *
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32 ***************************************************************************
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36 Please ensure to read the configuration and relevant port sections of the
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37 online documentation.
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39 http://www.FreeRTOS.org - Documentation, latest information, license and
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42 http://www.SafeRTOS.com - A version that is certified for use in safety
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45 http://www.OpenRTOS.com - Commercial support, development, porting,
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46 licensing and training services.
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51 * Creates all the demo application tasks, then starts the scheduler. The WEB
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52 * documentation provides more details of the standard demo application tasks
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53 * (which just exist to test the kernel port and provide an example of how to use
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54 * each FreeRTOS API function).
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56 * In addition to the standard demo tasks, the following tasks and tests are
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57 * defined and/or created within this file:
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59 * "LCD" task - the LCD task is a 'gatekeeper' task. It is the only task that
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60 * is permitted to access the display directly. Other tasks wishing to write a
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61 * message to the LCD send the message on a queue to the LCD task instead of
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62 * accessing the LCD themselves. The LCD task just blocks on the queue waiting
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63 * for messages - waking and displaying the messages as they arrive. The use
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64 * of a gatekeeper in this manner permits both tasks and interrupts to write to
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65 * the LCD without worrying about mutual exclusion. This is demonstrated by the
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66 * check hook (see below) which sends messages to the display even though it
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67 * executes from an interrupt context.
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69 * "Check" hook - This only executes fully every five seconds from the tick
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70 * hook. Its main function is to check that all the standard demo tasks are
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71 * still operational. Should any unexpected behaviour be discovered within a
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72 * demo task then the tick hook will write an error to the LCD (via the LCD task).
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73 * If all the demo tasks are executing with their expected behaviour then the
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74 * check task writes PASS to the LCD (again via the LCD task), as described above.
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76 * LED tasks - These just demonstrate how multiple instances of a single task
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77 * definition can be created. Each LED task simply toggles an LED. The task
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78 * parameter is used to pass the number of the LED to be toggled into the task.
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80 * "uIP" task - This is the task that handles the uIP stack. All TCP/IP
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81 * processing is performed in this task.
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83 * "Fast Interrupt Test" - A high frequency periodic interrupt is generated
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84 * using a free running timer to demonstrate the use of the
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85 * configKERNEL_INTERRUPT_PRIORITY configuration constant. The interrupt
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86 * service routine measures the number of processor clocks that occur between
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87 * each interrupt - and in so doing measures the jitter in the interrupt timing.
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88 * The maximum measured jitter time is latched in the ulMaxJitter variable, and
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89 * displayed on the OLED display by the 'OLED' task as described below. The
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90 * fast interrupt is configured and handled in the timertest.c source file.
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94 /* Standard includes. */
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97 /* Scheduler includes. */
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98 #include "FreeRTOS.h"
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101 #include "semphr.h"
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103 /* Library includes. */
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104 #include "stm32f10x_it.h"
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105 #include "stm32f10x_tim.h"
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106 #include "STM3210D_lcd.h"
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108 /* Demo app includes. */
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109 #include "BlockQ.h"
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110 #include "integer.h"
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112 #include "partest.h"
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113 #include "semtest.h"
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115 #include "GenQTest.h"
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117 #include "recmutex.h"
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120 /* The time between cycles of the 'check' functionality (defined within the
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122 #define mainCHECK_DELAY ( ( portTickType ) 5000 / portTICK_RATE_MS )
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124 /* Task priorities. */
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125 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
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126 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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127 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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128 #define mainUIP_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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129 #define mainFLASH_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
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130 #define mainLCD_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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131 #define mainINTEGER_TASK_PRIORITY ( tskIDLE_PRIORITY )
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132 #define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )
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134 /* The WEB server has a larger stack as it utilises stack hungry string
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135 handling library calls. */
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136 #define mainBASIC_WEB_STACK_SIZE ( configMINIMAL_STACK_SIZE * 4 )
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138 /* The length of the queue used to send messages to the LCD task. */
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139 #define mainQUEUE_SIZE ( 3 )
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141 /* The period of the system clock in nano seconds. This is used to calculate
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142 the jitter time in nano seconds. */
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143 #define mainNS_PER_CLOCK ( ( unsigned long ) ( ( 1.0 / ( double ) configCPU_CLOCK_HZ ) * 1000000000.0 ) )
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145 /*-----------------------------------------------------------*/
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148 * Configure the hardware for the demo.
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150 static void prvSetupHardware( void );
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153 * Very simple task that toggles an LED.
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155 static void prvLCDTask( void *pvparameters );
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158 * The task that handles the uIP stack. All TCP/IP processing is performed in
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161 extern void vuIP_Task( void *pvParameters );
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164 * The LCD gatekeeper task as described in the comments at the top of this file.
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166 static void prvLCDTask( void *pvParameters );
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169 * Configures the high frequency timers - those used to measure the timing
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170 * jitter while the real time kernel is executing.
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172 extern void vSetupHighFrequencyTimer( void );
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174 /*-----------------------------------------------------------*/
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176 /* The queue used to send messages to the LCD task. */
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177 xQueueHandle xLCDQueue;
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179 /*-----------------------------------------------------------*/
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187 prvSetupHardware();
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189 /* Start the standard demo tasks. These are just here to exercise the
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190 kernel port and provide examples of how the FreeRTOS API can be used. */
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191 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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192 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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193 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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194 vStartIntegerMathTasks( mainINTEGER_TASK_PRIORITY );
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195 vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
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196 vStartLEDFlashTasks( mainFLASH_TASK_PRIORITY );
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197 vStartQueuePeekTasks();
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198 vStartRecursiveMutexTasks();
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200 /* Create the uIP task. The WEB server runs in this task. */
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201 xTaskCreate( vuIP_Task, ( signed char * ) "uIP", mainBASIC_WEB_STACK_SIZE, ( void * ) NULL, mainUIP_TASK_PRIORITY, NULL );
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203 /* Create the queue used by the LCD task. Messages for display on the LCD
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204 are received via this queue. */
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205 xLCDQueue = xQueueCreate( mainQUEUE_SIZE, sizeof( char * ) );
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207 /* Start the LCD gatekeeper task - as described in the comments at the top
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209 xTaskCreate( prvLCDTask, ( signed char * ) "LCD", configMINIMAL_STACK_SIZE * 2, NULL, mainLCD_TASK_PRIORITY, NULL );
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211 /* Configure the high frequency interrupt used to measure the interrupt
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212 jitter time. When debugging it can be helpful to comment this line out
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213 to prevent the debugger repeatedly going into the interrupt service
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215 vSetupHighFrequencyTimer();
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217 /* Start the scheduler. */
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218 vTaskStartScheduler();
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220 /* Will only get here if there was insufficient memory to create the idle
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221 task. The idle task is created within vTaskStartScheduler(). */
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224 /*-----------------------------------------------------------*/
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226 static void prvLCDTask( void *pvParameters )
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228 unsigned char *pucMessage;
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229 unsigned long ulLine = Line3;
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230 const unsigned long ulLineHeight = 24;
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231 static char cMsgBuf[ 30 ];
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232 extern unsigned short usMaxJitter;
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234 ( void ) pvParameters;
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236 /* The LCD gatekeeper task as described in the comments at the top of this
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239 /* Initialise the LCD and display a startup message that includes the
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240 configured IP address. */
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241 STM3210D_LCD_Init();
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243 LCD_SetTextColor(Green);
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244 LCD_DisplayStringLine( Line0, ( unsigned char * ) " www.FreeRTOS.org" );
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245 LCD_SetTextColor(Blue);
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246 sprintf( cMsgBuf, " %d.%d.%d.%d", configIP_ADDR0, configIP_ADDR1, configIP_ADDR2, configIP_ADDR3 );
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247 LCD_DisplayStringLine( Line1, ( unsigned char * ) cMsgBuf );
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248 LCD_SetTextColor(Black);
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252 /* Wait for a message to arrive to be displayed. */
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253 xQueueReceive( xLCDQueue, &pucMessage, portMAX_DELAY );
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255 /* Clear the current line of text. */
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256 LCD_ClearLine( ulLine );
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258 /* Move on to the next line. */
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259 ulLine += ulLineHeight;
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260 if( ulLine > Line9 )
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265 /* Display the received text, and the max jitter value. */
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266 sprintf( cMsgBuf, "%s [%uns]", pucMessage, usMaxJitter * mainNS_PER_CLOCK );
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267 LCD_DisplayStringLine( ulLine, ( unsigned char * ) cMsgBuf );
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270 /*-----------------------------------------------------------*/
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272 static void prvSetupHardware( void )
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274 /* Start with the clocks in their expected state. */
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277 /* Enable HSE (high speed external clock). */
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278 RCC_HSEConfig( RCC_HSE_ON );
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280 /* Wait till HSE is ready. */
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281 while( RCC_GetFlagStatus( RCC_FLAG_HSERDY ) == RESET )
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285 /* 2 wait states required on the flash. */
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286 *( ( unsigned long * ) 0x40022000 ) = 0x02;
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288 /* HCLK = SYSCLK */
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289 RCC_HCLKConfig( RCC_SYSCLK_Div1 );
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292 RCC_PCLK2Config( RCC_HCLK_Div1 );
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294 /* PCLK1 = HCLK/2 */
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295 RCC_PCLK1Config( RCC_HCLK_Div2 );
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297 /* PLLCLK = (25MHz / 2 ) * 5 = 62.5 MHz. */
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298 RCC_PLLConfig( RCC_PLLSource_HSE_Div2, RCC_PLLMul_5 );
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301 RCC_PLLCmd( ENABLE );
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303 /* Wait till PLL is ready. */
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304 while(RCC_GetFlagStatus(RCC_FLAG_PLLRDY) == RESET)
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308 /* Select PLL as system clock source. */
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309 RCC_SYSCLKConfig( RCC_SYSCLKSource_PLLCLK );
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311 /* Wait till PLL is used as system clock source. */
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312 while( RCC_GetSYSCLKSource() != 0x08 )
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316 /* Enable GPIOA, GPIOB, GPIOC, GPIOD, GPIOE and AFIO clocks */
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317 RCC_APB2PeriphClockCmd( RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOB |RCC_APB2Periph_GPIOC
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318 | RCC_APB2Periph_GPIOD | RCC_APB2Periph_GPIOE | RCC_APB2Periph_AFIO, ENABLE );
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320 /* Set the Vector Table base address at 0x08000000 */
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321 NVIC_SetVectorTable( NVIC_VectTab_FLASH, 0x0 );
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323 NVIC_PriorityGroupConfig( NVIC_PriorityGroup_4 );
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325 /* Configure HCLK clock as SysTick clock source. */
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326 SysTick_CLKSourceConfig( SysTick_CLKSource_HCLK );
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328 /* Initialise the IO used for the LED outputs. */
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329 vParTestInitialise();
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331 /*-----------------------------------------------------------*/
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333 void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed char *pcTaskName )
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335 /* This function will get called if a task overflows its stack. If the
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336 parameters are corrupt then inspect pxCurrentTCB to find which was the
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340 ( void ) pcTaskName;
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344 /*-----------------------------------------------------------*/
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346 void vApplicationTickHook( void )
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348 char *pcMessage = "Status: PASS";
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349 static unsigned long ulTicksSinceLastDisplay = 0;
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350 portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
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352 /* Called from every tick interrupt as described in the comments at the top
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355 Have enough ticks passed to make it time to perform our health status
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357 ulTicksSinceLastDisplay++;
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358 if( ulTicksSinceLastDisplay >= mainCHECK_DELAY )
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360 /* Reset the counter so these checks run again in mainCHECK_DELAY
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362 ulTicksSinceLastDisplay = 0;
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364 /* Has an error been found in any task? */
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365 if( xAreGenericQueueTasksStillRunning() != pdTRUE )
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367 pcMessage = "ERROR: GEN Q";
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369 else if( xAreQueuePeekTasksStillRunning() != pdTRUE )
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371 pcMessage = "ERROR: PEEK Q";
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373 else if( xAreBlockingQueuesStillRunning() != pdTRUE )
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375 pcMessage = "ERROR: BLOCK Q";
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377 else if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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379 pcMessage = "ERROR: SEMAPHR";
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381 else if( xArePollingQueuesStillRunning() != pdTRUE )
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383 pcMessage = "ERROR: POLL Q";
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385 else if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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387 pcMessage = "ERROR: INT MATH";
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389 else if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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391 pcMessage = "ERROR: REC MUTEX";
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394 /* Send the message to the OLED gatekeeper for display. The
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395 xHigherPriorityTaskWoken parameter is not actually used here
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396 as this function is running in the tick interrupt anyway - but
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397 it must still be supplied. */
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398 xHigherPriorityTaskWoken = pdFALSE;
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399 xQueueSendFromISR( xLCDQueue, &pcMessage, &xHigherPriorityTaskWoken );
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402 /*-----------------------------------------------------------*/
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