2 FreeRTOS V8.0.1 - 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 * In addition to the standard demo tasks, the following tasks and tests are
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70 * defined and/or created within this file:
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72 * "Fast Interrupt Test" - A high frequency periodic interrupt is generated
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73 * using a free running timer to demonstrate the use of the
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74 * configKERNEL_INTERRUPT_PRIORITY configuration constant. The interrupt
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75 * service routine measures the number of processor clocks that occur between
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76 * each interrupt - and in so doing measures the jitter in the interrupt timing.
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77 * The maximum measured jitter time is latched in the ulMaxJitter variable, and
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78 * displayed on the LCD by the 'Check' task as described below. The
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79 * fast interrupt is configured and handled in the timertest.c source file.
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81 * "LCD" task - the LCD task is a 'gatekeeper' task. It is the only task that
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82 * is permitted to access the display directly. Other tasks wishing to write a
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83 * message to the LCD send the message on a queue to the LCD task instead of
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84 * accessing the LCD themselves. The LCD task just blocks on the queue waiting
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85 * for messages - waking and displaying the messages as they arrive. Messages
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86 * can either be a text string to display, or an instruction to update MEMS
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87 * input. The MEMS input is used to display a ball that can be moved around
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88 * LCD by tilting the STM32 Primer. 45% is taken as the neutral position.
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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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99 * Tick Hook - A tick hook is provided just for demonstration purposes. In
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100 * this case it is used to periodically send an instruction to updated the
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101 * MEMS input to the LCD task.
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105 /* CircleOS includes. Some of the CircleOS peripheral functionality is
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106 utilised, although CircleOS itself is not used. */
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107 #include "circle.h"
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109 /* Standard includes. */
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110 #include <string.h>
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112 /* Scheduler includes. */
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113 #include "FreeRTOS.h"
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117 /* Demo app includes. */
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118 #include "BlockQ.h"
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119 #include "blocktim.h"
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120 #include "GenQTest.h"
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121 #include "partest.h"
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124 /* The bitmap used to display the FreeRTOS.org logo is stored in 16bit format
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125 and therefore takes up a large proportion of the Flash space. Setting this
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126 parameter to 0 excludes the bitmap from the build, freeing up Flash space for
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128 #define mainINCLUDE_BITMAP 0
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130 #if mainINCLUDE_BITMAP == 1
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131 #include "bitmap.h"
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134 /* Task priorities. */
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135 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
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136 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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137 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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138 #define mainGEN_Q_PRIORITY ( tskIDLE_PRIORITY + 0 )
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139 #define mainFLASH_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
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141 /* Splash screen related constants. */
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142 #define mainBITMAP_Y ( 38 )
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143 #define mainBITMAP_X ( 18 )
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144 #define mainURL_Y ( 8 )
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145 #define mainURL_X ( 78 )
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146 #define mainSPLASH_SCREEN_DELAY ( 2000 / portTICK_PERIOD_MS )
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148 /* Text drawing related constants. */
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149 #define mainLCD_CHAR_HEIGHT ( 13 )
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150 #define mainLCD_MAX_Y ( 110 )
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152 /* The maximum number of message that can be waiting for display at any one
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154 #define mainLCD_QUEUE_SIZE ( 3 )
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156 /* The check task uses the sprintf function so requires a little more stack. */
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157 #define mainCHECK_TASK_STACK_SIZE ( configMINIMAL_STACK_SIZE + 50 )
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159 /* The LCD task calls some of the CircleOS functions (for MEMS and LCD access),
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160 these can require a larger stack. */
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161 #define configLCD_TASK_STACK_SIZE ( configMINIMAL_STACK_SIZE + 50 )
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163 /* Dimensions the buffer into which the jitter time is written. */
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164 #define mainMAX_MSG_LEN 25
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166 /* The time between cycles of the 'check' task. */
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167 #define mainCHECK_DELAY ( ( TickType_t ) 5000 / portTICK_PERIOD_MS )
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169 /* The period at which the MEMS input should be updated. */
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170 #define mainMEMS_DELAY ( ( TickType_t ) 100 / portTICK_PERIOD_MS )
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172 /* The rate at which the flash task toggles the LED. */
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173 #define mainFLASH_DELAY ( ( TickType_t ) 1000 / portTICK_PERIOD_MS )
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175 /* The number of nano seconds between each processor clock. */
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176 #define mainNS_PER_CLOCK ( ( unsigned long ) ( ( 1.0 / ( double ) configCPU_CLOCK_HZ ) * 1000000000.0 ) )
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178 /* The two types of message that can be sent to the LCD task. */
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179 #define mainUPDATE_BALL_MESSAGE ( 0 )
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180 #define mainWRITE_STRING_MESSAGE ( 1 )
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182 /* Type of the message sent to the LCD task. */
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185 portBASE_TYPE xMessageType;
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186 signed char *pcMessage;
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189 /*-----------------------------------------------------------*/
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192 * Configure the clocks, GPIO and other peripherals as required by the demo.
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194 static void prvSetupHardware( void );
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197 * The LCD is written two by more than one task so is controlled by a
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198 * 'gatekeeper' task. This is the only task that is actually permitted to
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199 * access the LCD directly. Other tasks wanting to display a message send
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200 * the message to the gatekeeper.
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202 static void prvLCDTask( void *pvParameters );
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205 * Checks the status of all the demo tasks then prints a message to the
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206 * display. The message will be either PASS - and include in brackets the
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207 * maximum measured jitter time (as described at the to of the file), or a
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208 * message that describes which of the standard demo tasks an error has been
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211 * Messages are not written directly to the terminal, but passed to prvLCDTask
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214 * The check task also receives instructions to update the MEMS input, which
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215 * in turn can also lead to the LCD being updated.
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217 static void prvCheckTask( void *pvParameters );
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220 * Configures the timers and interrupts for the fast interrupt test as
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221 * described at the top of this file.
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223 extern void vSetupTimerTest( void );
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226 * A cut down version of sprintf() used to percent the HUGE GCC library
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227 * equivalent from being included in the binary image.
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229 extern int sprintf(char *out, const char *format, ...);
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232 * Simple toggle the LED periodically for timing verification.
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234 static void prvFlashTask( void *pvParameters );
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236 /*-----------------------------------------------------------*/
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238 /* The queue used to send messages to the LCD task. */
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239 QueueHandle_t xLCDQueue;
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241 /*-----------------------------------------------------------*/
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249 prvSetupHardware();
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251 /* Create the queue used by the LCD task. Messages for display on the LCD
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252 are received via this queue. */
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253 xLCDQueue = xQueueCreate( mainLCD_QUEUE_SIZE, sizeof( xLCDMessage ) );
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255 /* Start the standard demo tasks. */
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256 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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257 vCreateBlockTimeTasks();
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258 vStartGenericQueueTasks( mainGEN_Q_PRIORITY );
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259 vStartQueuePeekTasks();
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260 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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262 /* Start the tasks defined within this file/specific to this demo. */
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263 xTaskCreate( prvCheckTask, "Check", mainCHECK_TASK_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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264 xTaskCreate( prvLCDTask, "LCD", configLCD_TASK_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
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265 xTaskCreate( prvFlashTask, "Flash", configMINIMAL_STACK_SIZE, NULL, mainFLASH_TASK_PRIORITY, NULL );
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267 /* Configure the timers used by the fast interrupt timer test. */
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270 /* Start the scheduler. */
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271 vTaskStartScheduler();
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273 /* Will only get here if there was not enough heap space to create the
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277 /*-----------------------------------------------------------*/
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279 void prvLCDTask( void *pvParameters )
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281 xLCDMessage xMessage;
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282 char cY = mainLCD_CHAR_HEIGHT;
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283 const char * const pcString = "www.FreeRTOS.org";
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284 const char * const pcBlankLine = " ";
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288 #if mainINCLUDE_BITMAP == 1
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289 DRAW_SetImage( pucImage, mainBITMAP_Y, mainBITMAP_X, bmpBITMAP_HEIGHT, bmpBITMAP_WIDTH );
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292 LCD_SetScreenOrientation( V9 );
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293 DRAW_DisplayString( mainURL_Y, mainURL_X, pcString, strlen( pcString ) );
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294 vTaskDelay( mainSPLASH_SCREEN_DELAY );
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295 LCD_FillRect( 0, 0, CHIP_SCREEN_WIDTH, CHIP_SCREEN_HEIGHT, RGB_WHITE );
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299 /* Wait for a message to arrive that requires displaying. */
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300 while( xQueueReceive( xLCDQueue, &xMessage, portMAX_DELAY ) != pdPASS );
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302 /* Check the message type. */
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303 if( xMessage.xMessageType == mainUPDATE_BALL_MESSAGE )
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305 /* Read the MEMS and update the ball display on the LCD if required. */
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311 /* A text string was sent. First blank off the old text string, then
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312 draw the new text on the next line down. */
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313 DRAW_DisplayString( 0, cY, pcBlankLine, strlen( pcBlankLine ) );
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315 cY -= mainLCD_CHAR_HEIGHT;
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316 if( cY <= ( mainLCD_CHAR_HEIGHT - 1 ) )
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318 /* Wrap the line onto which we are going to write the text. */
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319 cY = mainLCD_MAX_Y;
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322 /* Display the message. */
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323 DRAW_DisplayString( 0, cY, xMessage.pcMessage, strlen( xMessage.pcMessage ) );
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327 /*-----------------------------------------------------------*/
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329 static void prvCheckTask( void *pvParameters )
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331 TickType_t xLastExecutionTime;
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332 xLCDMessage xMessage;
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333 static signed char cPassMessage[ mainMAX_MSG_LEN ];
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334 extern unsigned short usMaxJitter;
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336 /* Initialise the xLastExecutionTime variable on task entry. */
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337 xLastExecutionTime = xTaskGetTickCount();
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339 /* Setup the message we are going to send to the LCD task. */
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340 xMessage.xMessageType = mainWRITE_STRING_MESSAGE;
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341 xMessage.pcMessage = cPassMessage;
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345 /* Perform this check every mainCHECK_DELAY milliseconds. */
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346 vTaskDelayUntil( &xLastExecutionTime, mainCHECK_DELAY );
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348 /* Has an error been found in any task? If so then point the text
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349 we are going to send to the LCD task to an error message instead of
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350 the PASS message. */
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351 if( xAreGenericQueueTasksStillRunning() != pdTRUE )
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353 xMessage.pcMessage = "ERROR IN GEN Q";
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355 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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357 xMessage.pcMessage = "ERROR IN BLOCK Q";
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359 else if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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361 xMessage.pcMessage = "ERROR IN BLOCK TIME";
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363 else if( xArePollingQueuesStillRunning() != pdTRUE )
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365 xMessage.pcMessage = "ERROR IN POLL Q";
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367 else if( xAreQueuePeekTasksStillRunning() != pdTRUE )
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369 xMessage.pcMessage = "ERROR IN PEEK Q";
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373 /* No errors were found in any task, so send a pass message
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374 with the max measured jitter time also included (as per the
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375 fast interrupt test described at the top of this file and on
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376 the online documentation page for this demo application). */
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377 sprintf( ( char * ) cPassMessage, "PASS [%uns]", ( ( unsigned long ) usMaxJitter ) * mainNS_PER_CLOCK );
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380 /* Send the message to the LCD gatekeeper for display. */
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381 xQueueSend( xLCDQueue, &xMessage, portMAX_DELAY );
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384 /*-----------------------------------------------------------*/
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386 void vApplicationTickHook( void )
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388 static unsigned long ulCallCount;
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389 static const xLCDMessage xMemsMessage = { mainUPDATE_BALL_MESSAGE, NULL };
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390 static portBASE_TYPE xHigherPriorityTaskWoken;
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392 /* Periodically send a message to the LCD task telling it to update
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393 the MEMS input, and then if necessary the LCD. */
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395 if( ulCallCount >= mainMEMS_DELAY )
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398 xHigherPriorityTaskWoken = pdFALSE;
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399 xQueueSendFromISR( xLCDQueue, &xMemsMessage, &xHigherPriorityTaskWoken );
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402 /*-----------------------------------------------------------*/
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404 static void prvSetupHardware( void )
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406 /* Start with the clocks in their expected state. */
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409 /* Enable HSE (high speed external clock). */
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410 RCC_HSEConfig( RCC_HSE_ON );
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412 /* Wait till HSE is ready. */
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413 while( RCC_GetFlagStatus( RCC_FLAG_HSERDY ) == RESET )
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417 /* 2 wait states required on the flash. */
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418 *( ( unsigned long * ) 0x40022000 ) = 0x02;
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420 /* HCLK = SYSCLK */
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421 RCC_HCLKConfig( RCC_SYSCLK_Div1 );
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424 RCC_PCLK2Config( RCC_HCLK_Div1 );
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426 /* PCLK1 = HCLK/2 */
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427 RCC_PCLK1Config( RCC_HCLK_Div2 );
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429 /* PLLCLK = 12MHz * 6 = 72 MHz. */
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430 RCC_PLLConfig( RCC_PLLSource_HSE_Div1, RCC_PLLMul_6 );
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433 RCC_PLLCmd( ENABLE );
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435 /* Wait till PLL is ready. */
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436 while(RCC_GetFlagStatus(RCC_FLAG_PLLRDY) == RESET)
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440 /* Select PLL as system clock source. */
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441 RCC_SYSCLKConfig( RCC_SYSCLKSource_PLLCLK );
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443 /* Wait till PLL is used as system clock source. */
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444 while( RCC_GetSYSCLKSource() != 0x08 )
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448 /* Enable GPIOA, GPIOB, GPIOC, GPIOD, GPIOE and AFIO clocks */
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449 RCC_APB2PeriphClockCmd( RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOB |RCC_APB2Periph_GPIOC
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450 | RCC_APB2Periph_GPIOD | RCC_APB2Periph_GPIOE | RCC_APB2Periph_AFIO, ENABLE );
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452 /* SPI2 Periph clock enable */
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453 RCC_APB1PeriphClockCmd( RCC_APB1Periph_SPI2, ENABLE );
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456 /* Set the Vector Table base address at 0x08000000 */
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457 NVIC_SetVectorTable( NVIC_VectTab_FLASH, 0x0 );
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459 NVIC_PriorityGroupConfig( NVIC_PriorityGroup_4 );
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461 /* Configure HCLK clock as SysTick clock source. */
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462 SysTick_CLKSourceConfig( SysTick_CLKSource_HCLK );
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464 /* Misc initialisation, including some of the CircleOS features. Note
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465 that CircleOS itself is not used. */
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466 vParTestInitialise();
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469 POINTER_SetMode( POINTER_RESTORE_LESS );
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471 /*-----------------------------------------------------------*/
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473 static void prvFlashTask( void *pvParameters )
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475 TickType_t xLastExecutionTime;
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477 /* Initialise the xLastExecutionTime variable on task entry. */
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478 xLastExecutionTime = xTaskGetTickCount();
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482 /* Simple toggle the LED periodically. This just provides some timing
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484 vTaskDelayUntil( &xLastExecutionTime, mainFLASH_DELAY );
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485 vParTestToggleLED( 0 );
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488 /*-----------------------------------------------------------*/
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490 void starting_delay( unsigned long ul )
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492 vTaskDelay( ( TickType_t ) ul );
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