2 FreeRTOS V7.1.1 - Copyright (C) 2012 Real Time Engineers Ltd.
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5 ***************************************************************************
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7 * FreeRTOS tutorial books are available in pdf and paperback. *
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8 * Complete, revised, and edited pdf reference manuals are also *
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11 * Purchasing FreeRTOS documentation will not only help you, by *
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12 * ensuring you get running as quickly as possible and with an *
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13 * in-depth knowledge of how to use FreeRTOS, it will also help *
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14 * the FreeRTOS project to continue with its mission of providing *
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15 * professional grade, cross platform, de facto standard solutions *
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16 * for microcontrollers - completely free of charge! *
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18 * >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
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20 * Thank you for using FreeRTOS, and thank you for your support! *
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22 ***************************************************************************
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25 This file is part of the FreeRTOS distribution.
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27 FreeRTOS is free software; you can redistribute it and/or modify it under
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28 the terms of the GNU General Public License (version 2) as published by the
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29 Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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30 >>>NOTE<<< The modification to the GPL is included to allow you to
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31 distribute a combined work that includes FreeRTOS without being obliged to
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32 provide the source code for proprietary components outside of the FreeRTOS
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33 kernel. FreeRTOS is distributed in the hope that it will be useful, but
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34 WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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35 or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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36 more details. You should have received a copy of the GNU General Public
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37 License and the FreeRTOS license exception along with FreeRTOS; if not it
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38 can be viewed here: http://www.freertos.org/a00114.html and also obtained
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39 by writing to Richard Barry, contact details for whom are available on the
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44 ***************************************************************************
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46 * Having a problem? Start by reading the FAQ "My application does *
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47 * not run, what could be wrong? *
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49 * http://www.FreeRTOS.org/FAQHelp.html *
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51 ***************************************************************************
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54 http://www.FreeRTOS.org - Documentation, training, latest information,
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55 license and contact details.
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57 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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58 including FreeRTOS+Trace - an indispensable productivity tool.
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60 Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell
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61 the code with commercial support, indemnification, and middleware, under
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62 the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also
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63 provide a safety engineered and independently SIL3 certified version under
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64 the SafeRTOS brand: http://www.SafeRTOS.com.
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69 * Creates all the demo application tasks, then starts the scheduler. The WEB
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70 * documentation provides more details of the standard demo application tasks
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71 * (which just exist to test the kernel port and provide an example of how to use
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72 * each FreeRTOS API function).
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74 * In addition to the standard demo tasks, the following tasks and tests are
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75 * defined and/or created within this file:
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77 * "LCD" task - the LCD task is a 'gatekeeper' task. It is the only task that
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78 * is permitted to access the display directly. Other tasks wishing to write a
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79 * message to the LCD send the message on a queue to the LCD task instead of
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80 * accessing the LCD themselves. The LCD task just blocks on the queue waiting
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81 * for messages - waking and displaying the messages as they arrive. The use
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82 * of a gatekeeper in this manner permits both tasks and interrupts to write to
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83 * the LCD without worrying about mutual exclusion. This is demonstrated by the
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84 * check hook (see below) which sends messages to the display even though it
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85 * executes from an interrupt context.
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87 * "Check" hook - This only executes fully every five seconds from the tick
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88 * hook. Its main function is to check that all the standard demo tasks are
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89 * still operational. Should any unexpected behaviour be discovered within a
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90 * demo task then the tick hook will write an error to the LCD (via the LCD task).
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91 * If all the demo tasks are executing with their expected behaviour then the
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92 * check task writes PASS to the LCD (again via the LCD task), as described above.
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94 * LED tasks - These just demonstrate how multiple instances of a single task
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95 * definition can be created. Each LED task simply toggles an LED. The task
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96 * parameter is used to pass the number of the LED to be toggled into the task.
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98 * "uIP" task - This is the task that handles the uIP stack. All TCP/IP
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99 * processing is performed in this task.
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101 * "Fast Interrupt Test" - A high frequency periodic interrupt is generated
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102 * using a free running timer to demonstrate the use of the
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103 * configKERNEL_INTERRUPT_PRIORITY configuration constant. The interrupt
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104 * service routine measures the number of processor clocks that occur between
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105 * each interrupt - and in so doing measures the jitter in the interrupt timing.
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106 * The maximum measured jitter time is latched in the ulMaxJitter variable, and
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107 * displayed on the OLED display by the 'OLED' task as described below. The
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108 * fast interrupt is configured and handled in the timertest.c source file.
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112 /* Standard includes. */
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115 /* Scheduler includes. */
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116 #include "FreeRTOS.h"
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119 #include "semphr.h"
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121 /* Library includes. */
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122 #include "stm32f10x_it.h"
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123 #include "stm32f10x_tim.h"
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124 #include "STM3210D_lcd.h"
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126 /* Demo app includes. */
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127 #include "BlockQ.h"
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128 #include "integer.h"
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130 #include "partest.h"
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131 #include "semtest.h"
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133 #include "GenQTest.h"
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135 #include "recmutex.h"
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138 /* The time between cycles of the 'check' functionality (defined within the
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140 #define mainCHECK_DELAY ( ( portTickType ) 5000 / portTICK_RATE_MS )
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142 /* Task priorities. */
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143 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
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144 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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145 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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146 #define mainUIP_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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147 #define mainFLASH_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
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148 #define mainLCD_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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149 #define mainINTEGER_TASK_PRIORITY ( tskIDLE_PRIORITY )
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150 #define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )
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152 /* The WEB server has a larger stack as it utilises stack hungry string
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153 handling library calls. */
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154 #define mainBASIC_WEB_STACK_SIZE ( configMINIMAL_STACK_SIZE * 4 )
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156 /* The length of the queue used to send messages to the LCD task. */
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157 #define mainQUEUE_SIZE ( 3 )
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159 /* The period of the system clock in nano seconds. This is used to calculate
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160 the jitter time in nano seconds. */
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161 #define mainNS_PER_CLOCK ( ( unsigned long ) ( ( 1.0 / ( double ) configCPU_CLOCK_HZ ) * 1000000000.0 ) )
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163 /*-----------------------------------------------------------*/
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166 * Configure the hardware for the demo.
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168 static void prvSetupHardware( void );
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171 * Very simple task that toggles an LED.
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173 static void prvLCDTask( void *pvparameters );
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176 * The task that handles the uIP stack. All TCP/IP processing is performed in
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179 extern void vuIP_Task( void *pvParameters );
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182 * The LCD gatekeeper task as described in the comments at the top of this file.
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184 static void prvLCDTask( void *pvParameters );
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187 * Configures the high frequency timers - those used to measure the timing
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188 * jitter while the real time kernel is executing.
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190 extern void vSetupHighFrequencyTimer( void );
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192 /*-----------------------------------------------------------*/
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194 /* The queue used to send messages to the LCD task. */
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195 xQueueHandle xLCDQueue;
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197 /*-----------------------------------------------------------*/
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205 prvSetupHardware();
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207 /* Start the standard demo tasks. These are just here to exercise the
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208 kernel port and provide examples of how the FreeRTOS API can be used. */
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209 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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210 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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211 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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212 vStartIntegerMathTasks( mainINTEGER_TASK_PRIORITY );
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213 vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
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214 vStartLEDFlashTasks( mainFLASH_TASK_PRIORITY );
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215 vStartQueuePeekTasks();
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216 vStartRecursiveMutexTasks();
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218 /* Create the uIP task. The WEB server runs in this task. */
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219 xTaskCreate( vuIP_Task, ( signed char * ) "uIP", mainBASIC_WEB_STACK_SIZE, ( void * ) NULL, mainUIP_TASK_PRIORITY, NULL );
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221 /* Create the queue used by the LCD task. Messages for display on the LCD
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222 are received via this queue. */
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223 xLCDQueue = xQueueCreate( mainQUEUE_SIZE, sizeof( char * ) );
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225 /* Start the LCD gatekeeper task - as described in the comments at the top
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227 xTaskCreate( prvLCDTask, ( signed char * ) "LCD", configMINIMAL_STACK_SIZE * 2, NULL, mainLCD_TASK_PRIORITY, NULL );
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229 /* Configure the high frequency interrupt used to measure the interrupt
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230 jitter time. When debugging it can be helpful to comment this line out
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231 to prevent the debugger repeatedly going into the interrupt service
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233 vSetupHighFrequencyTimer();
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235 /* Start the scheduler. */
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236 vTaskStartScheduler();
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238 /* Will only get here if there was insufficient memory to create the idle
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239 task. The idle task is created within vTaskStartScheduler(). */
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242 /*-----------------------------------------------------------*/
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244 static void prvLCDTask( void *pvParameters )
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246 unsigned char *pucMessage;
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247 unsigned long ulLine = Line3;
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248 const unsigned long ulLineHeight = 24;
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249 static char cMsgBuf[ 30 ];
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250 extern unsigned short usMaxJitter;
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252 ( void ) pvParameters;
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254 /* The LCD gatekeeper task as described in the comments at the top of this
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257 /* Initialise the LCD and display a startup message that includes the
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258 configured IP address. */
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259 STM3210D_LCD_Init();
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261 LCD_SetTextColor(Green);
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262 LCD_DisplayStringLine( Line0, ( unsigned char * ) " www.FreeRTOS.org" );
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263 LCD_SetTextColor(Blue);
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264 sprintf( cMsgBuf, " %d.%d.%d.%d", configIP_ADDR0, configIP_ADDR1, configIP_ADDR2, configIP_ADDR3 );
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265 LCD_DisplayStringLine( Line1, ( unsigned char * ) cMsgBuf );
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266 LCD_SetTextColor(Black);
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270 /* Wait for a message to arrive to be displayed. */
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271 xQueueReceive( xLCDQueue, &pucMessage, portMAX_DELAY );
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273 /* Clear the current line of text. */
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274 LCD_ClearLine( ulLine );
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276 /* Move on to the next line. */
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277 ulLine += ulLineHeight;
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278 if( ulLine > Line9 )
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283 /* Display the received text, and the max jitter value. */
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284 sprintf( cMsgBuf, "%s [%uns]", pucMessage, usMaxJitter * mainNS_PER_CLOCK );
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285 LCD_DisplayStringLine( ulLine, ( unsigned char * ) cMsgBuf );
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288 /*-----------------------------------------------------------*/
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290 static void prvSetupHardware( void )
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292 /* Start with the clocks in their expected state. */
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295 /* Enable HSE (high speed external clock). */
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296 RCC_HSEConfig( RCC_HSE_ON );
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298 /* Wait till HSE is ready. */
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299 while( RCC_GetFlagStatus( RCC_FLAG_HSERDY ) == RESET )
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303 /* 2 wait states required on the flash. */
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304 *( ( unsigned long * ) 0x40022000 ) = 0x02;
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306 /* HCLK = SYSCLK */
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307 RCC_HCLKConfig( RCC_SYSCLK_Div1 );
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310 RCC_PCLK2Config( RCC_HCLK_Div1 );
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312 /* PCLK1 = HCLK/2 */
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313 RCC_PCLK1Config( RCC_HCLK_Div2 );
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315 /* PLLCLK = (25MHz / 2 ) * 5 = 62.5 MHz. */
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316 RCC_PLLConfig( RCC_PLLSource_HSE_Div2, RCC_PLLMul_5 );
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319 RCC_PLLCmd( ENABLE );
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321 /* Wait till PLL is ready. */
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322 while(RCC_GetFlagStatus(RCC_FLAG_PLLRDY) == RESET)
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326 /* Select PLL as system clock source. */
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327 RCC_SYSCLKConfig( RCC_SYSCLKSource_PLLCLK );
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329 /* Wait till PLL is used as system clock source. */
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330 while( RCC_GetSYSCLKSource() != 0x08 )
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334 /* Enable GPIOA, GPIOB, GPIOC, GPIOD, GPIOE and AFIO clocks */
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335 RCC_APB2PeriphClockCmd( RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOB |RCC_APB2Periph_GPIOC
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336 | RCC_APB2Periph_GPIOD | RCC_APB2Periph_GPIOE | RCC_APB2Periph_AFIO, ENABLE );
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338 /* Set the Vector Table base address at 0x08000000 */
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339 NVIC_SetVectorTable( NVIC_VectTab_FLASH, 0x0 );
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341 NVIC_PriorityGroupConfig( NVIC_PriorityGroup_4 );
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343 /* Configure HCLK clock as SysTick clock source. */
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344 SysTick_CLKSourceConfig( SysTick_CLKSource_HCLK );
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346 /* Initialise the IO used for the LED outputs. */
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347 vParTestInitialise();
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349 /*-----------------------------------------------------------*/
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351 void vApplicationStackOverflowHook( xTaskHandle pxTask, signed char *pcTaskName )
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353 /* This function will get called if a task overflows its stack. If the
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354 parameters are corrupt then inspect pxCurrentTCB to find which was the
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358 ( void ) pcTaskName;
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362 /*-----------------------------------------------------------*/
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364 void vApplicationTickHook( void )
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366 char *pcMessage = "Status: PASS";
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367 static unsigned long ulTicksSinceLastDisplay = 0;
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368 portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
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370 /* Called from every tick interrupt as described in the comments at the top
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373 Have enough ticks passed to make it time to perform our health status
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375 ulTicksSinceLastDisplay++;
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376 if( ulTicksSinceLastDisplay >= mainCHECK_DELAY )
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378 /* Reset the counter so these checks run again in mainCHECK_DELAY
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380 ulTicksSinceLastDisplay = 0;
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382 /* Has an error been found in any task? */
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383 if( xAreGenericQueueTasksStillRunning() != pdTRUE )
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385 pcMessage = "ERROR: GEN Q";
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387 else if( xAreQueuePeekTasksStillRunning() != pdTRUE )
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389 pcMessage = "ERROR: PEEK Q";
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391 else if( xAreBlockingQueuesStillRunning() != pdTRUE )
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393 pcMessage = "ERROR: BLOCK Q";
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395 else if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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397 pcMessage = "ERROR: SEMAPHR";
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399 else if( xArePollingQueuesStillRunning() != pdTRUE )
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401 pcMessage = "ERROR: POLL Q";
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403 else if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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405 pcMessage = "ERROR: INT MATH";
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407 else if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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409 pcMessage = "ERROR: REC MUTEX";
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412 /* Send the message to the OLED gatekeeper for display. The
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413 xHigherPriorityTaskWoken parameter is not actually used here
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414 as this function is running in the tick interrupt anyway - but
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415 it must still be supplied. */
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416 xHigherPriorityTaskWoken = pdFALSE;
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417 xQueueSendFromISR( xLCDQueue, &pcMessage, &xHigherPriorityTaskWoken );
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420 /*-----------------------------------------------------------*/
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