2 FreeRTOS V8.1.2 - 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 !<<
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28 >>! distribute a combined work that includes FreeRTOS without being !<<
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29 >>! obliged to provide the source code for proprietary components !<<
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30 >>! outside of the FreeRTOS kernel. !<<
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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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67 * Creates all the demo application tasks, then starts the scheduler. The WEB
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68 * documentation provides more details of the standard demo application tasks
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69 * (which just exist to test the kernel port and provide an example of how to use
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70 * each FreeRTOS API function).
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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 * "LCD" task - the LCD task is a 'gatekeeper' task. It is the only task that
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76 * is permitted to access the display directly. Other tasks wishing to write a
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77 * message to the LCD send the message on a queue to the LCD task instead of
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78 * accessing the LCD themselves. The LCD task just blocks on the queue waiting
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79 * for messages - waking and displaying the messages as they arrive. The use
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80 * of a gatekeeper in this manner permits both tasks and interrupts to write to
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81 * the LCD without worrying about mutual exclusion. This is demonstrated by the
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82 * check hook (see below) which sends messages to the display even though it
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83 * executes from an interrupt context.
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85 * "Check" hook - This only executes fully every five seconds from the tick
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86 * hook. Its main function is to check that all the standard demo tasks are
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87 * still operational. Should any unexpected behaviour be discovered within a
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88 * demo task then the tick hook will write an error to the LCD (via the LCD task).
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89 * If all the demo tasks are executing with their expected behaviour then the
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90 * check task writes PASS to the LCD (again via the LCD task), as described above.
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94 /* Scheduler includes. */
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95 #include "FreeRTOS.h"
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100 /* Demo app includes. */
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101 #include "BlockQ.h"
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102 #include "integer.h"
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103 #include "blocktim.h"
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105 #include "partest.h"
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106 #include "semtest.h"
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108 #include "lcd_message.h"
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109 #include "GenQTest.h"
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111 #include "recmutex.h"
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113 #include "comtest2.h"
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115 /* Atmel library includes. */
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117 #include <lcd/color.h>
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118 #include <lcd/lcdd.h>
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119 #include <lcd/draw.h>
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122 /*-----------------------------------------------------------*/
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124 /* The time between cycles of the 'check' functionality (defined within the
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126 #define mainCHECK_DELAY ( ( TickType_t ) 5000 / portTICK_PERIOD_MS )
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128 /* The LCD task uses the sprintf function so requires a little more stack too. */
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129 #define mainLCD_TASK_STACK_SIZE ( configMINIMAL_STACK_SIZE * 2 )
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131 /* Task priorities. */
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132 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
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133 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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134 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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135 #define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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136 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
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137 #define mainINTEGER_TASK_PRIORITY ( tskIDLE_PRIORITY )
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138 #define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )
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140 /* The maximum number of message that can be waiting for display at any one
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142 #define mainLCD_QUEUE_SIZE ( 3 )
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144 /* Constants used by the comtest tasks. There isn't a spare LED so an invalid
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145 LED is specified. */
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146 #define mainBAUD_RATE ( 115200 )
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147 #define mainCOM_TEST_LED ( 10 )
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149 /*-----------------------------------------------------------*/
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152 * Configure the hardware for the demo.
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154 static void prvSetupHardware( void );
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157 * The LCD gatekeeper task. Tasks wishing to write to the LCD do not access
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158 * the LCD directly, but instead send the message to the LCD gatekeeper task.
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160 static void prvLCDTask( void *pvParameters );
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163 * Hook functions that can get called by the kernel. The 'check' functionality
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164 * is implemented within the tick hook.
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166 void vApplicationStackOverflowHook( TaskHandle_t pxTask, char *pcTaskName );
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169 * The tick hook function as described in the comments at the top of this file.
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170 * The tick hook is used to monitor all the standard demo tasks to look for
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171 * errors. The tick hook is also used to demonstrate how the LCD gatekeeper
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172 * task can be used to allow interrupts to write to the LCD.
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174 void vApplicationTickHook( void );
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177 /*-----------------------------------------------------------*/
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179 /* The queue used to send messages to the LCD task. */
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180 static QueueHandle_t xLCDQueue;
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182 /*-----------------------------------------------------------*/
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186 /* Prepare the hardware. */
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187 prvSetupHardware();
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189 /* Create the queue used by the LCD task. Messages for display on the LCD
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190 are received via this queue. */
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191 xLCDQueue = xQueueCreate( mainLCD_QUEUE_SIZE, sizeof( xLCDMessage ) );
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193 /* Start the standard demo tasks. These do nothing other than test the
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194 port and provide some APU usage examples. */
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195 vStartIntegerMathTasks( mainINTEGER_TASK_PRIORITY );
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196 vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
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197 vStartRecursiveMutexTasks();
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198 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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199 vCreateBlockTimeTasks();
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200 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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201 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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202 vStartQueuePeekTasks();
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203 vStartLEDFlashTasks( mainLED_TASK_PRIORITY );
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204 vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainBAUD_RATE, mainCOM_TEST_LED );
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206 /* Start the tasks defined within this file/specific to this demo. */
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207 xTaskCreate( prvLCDTask, "LCD", mainLCD_TASK_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
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209 /* Start the scheduler. */
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210 vTaskStartScheduler();
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212 /* Will only get here if there was insufficient memory to create the idle
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216 /*-----------------------------------------------------------*/
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218 void prvSetupHardware( void )
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220 /* Initialise the port used for the LED outputs. */
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221 vParTestInitialise();
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223 /*-----------------------------------------------------------*/
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225 void vApplicationTickHook( void )
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227 static xLCDMessage xMessage = { "PASS" };
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228 static unsigned long ulTicksSinceLastDisplay = 0;
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229 portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
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231 /* Called from every tick interrupt. Have enough ticks passed to make it
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232 time to perform our health status check again? */
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233 ulTicksSinceLastDisplay++;
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234 if( ulTicksSinceLastDisplay >= mainCHECK_DELAY )
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236 ulTicksSinceLastDisplay = 0;
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238 /* Has an error been found in any task? */
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239 if( xAreGenericQueueTasksStillRunning() != pdTRUE )
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241 xMessage.pcMessage = "ERROR IN GEN Q";
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243 if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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245 xMessage.pcMessage = "ERROR IN MATH";
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247 else if( xAreBlockingQueuesStillRunning() != pdTRUE )
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249 xMessage.pcMessage = "ERROR IN BLOCK Q";
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251 else if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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253 xMessage.pcMessage = "ERROR IN BLOCK TIME";
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255 else if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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257 xMessage.pcMessage = "ERROR IN SEMAPHORE";
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259 else if( xArePollingQueuesStillRunning() != pdTRUE )
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261 xMessage.pcMessage = "ERROR IN POLL Q";
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263 else if( xAreQueuePeekTasksStillRunning() != pdTRUE )
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265 xMessage.pcMessage = "ERROR IN PEEK Q";
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267 else if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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269 xMessage.pcMessage = "ERROR IN REC MUTEX";
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271 else if( xAreComTestTasksStillRunning() != pdTRUE )
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273 xMessage.pcMessage = "ERROR IN COMTEST";
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276 /* Send the message to the LCD gatekeeper for display. */
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277 xHigherPriorityTaskWoken = pdFALSE;
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278 xQueueSendFromISR( xLCDQueue, &xMessage, &xHigherPriorityTaskWoken );
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281 /*-----------------------------------------------------------*/
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283 void vApplicationStackOverflowHook( TaskHandle_t pxTask, char *pcTaskName )
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286 ( void ) pcTaskName;
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288 /* If the parameters have been corrupted then inspect pxCurrentTCB to
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289 identify which task has overflowed its stack. */
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292 /*-----------------------------------------------------------*/
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294 static void prvLCDTask( void *pvParameters )
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296 xLCDMessage xMessage;
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297 unsigned long ulY = 0;
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298 const unsigned long ulX = 5;
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299 const unsigned long ulMaxY = 250, ulYIncrement = 22, ulWidth = 250, ulHeight = 20;;
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301 /* Initialize LCD. */
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304 LCDD_Fill( ( void * ) BOARD_LCD_BASE, COLOR_WHITE );
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305 LCDD_DrawString( ( void * ) BOARD_LCD_BASE, 1, ulY + 3, " www.FreeRTOS.org", COLOR_BLACK );
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309 /* Wait for a message from the check function (which is executed in
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311 xQueueReceive( xLCDQueue, &xMessage, portMAX_DELAY );
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313 /* Clear the space where the old message was. */
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314 LCDD_DrawRectangle( ( void * ) BOARD_LCD_BASE, 0, ulY, ulWidth, ulHeight, COLOR_WHITE );
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316 /* Increment to the next drawing position. */
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317 ulY += ulYIncrement;
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319 /* Have the Y position moved past the end of the LCD? */
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320 if( ulY >= ulMaxY )
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325 /* Draw a new rectangle, in which the message will be written. */
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326 LCDD_DrawRectangle( ( void * ) BOARD_LCD_BASE, 0, ulY, ulWidth, ulHeight, COLOR_GREEN );
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328 /* Write the message. */
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329 LCDD_DrawString( ( void * ) BOARD_LCD_BASE, ulX, ulY + 3, xMessage.pcMessage, COLOR_BLACK );
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