2 FreeRTOS V7.5.0 - Copyright (C) 2013 Real Time Engineers Ltd.
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4 VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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6 ***************************************************************************
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8 * FreeRTOS provides completely free yet professionally developed, *
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9 * robust, strictly quality controlled, supported, and cross *
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10 * platform software that has become a de facto standard. *
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12 * Help yourself get started quickly and support the FreeRTOS *
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13 * project by purchasing a FreeRTOS tutorial book, reference *
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14 * manual, or both from: http://www.FreeRTOS.org/Documentation *
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18 ***************************************************************************
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20 This file is part of the FreeRTOS distribution.
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22 FreeRTOS is free software; you can redistribute it and/or modify it under
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23 the terms of the GNU General Public License (version 2) as published by the
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24 Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
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26 >>! NOTE: The modification to the GPL is included to allow you to distribute
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27 >>! a combined work that includes FreeRTOS without being obliged to provide
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28 >>! the source code for proprietary components outside of the FreeRTOS
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31 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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32 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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33 FOR A PARTICULAR PURPOSE. Full license text is available from the following
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34 link: http://www.freertos.org/a00114.html
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38 ***************************************************************************
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40 * Having a problem? Start by reading the FAQ "My application does *
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41 * not run, what could be wrong?" *
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43 * http://www.FreeRTOS.org/FAQHelp.html *
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45 ***************************************************************************
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47 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
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48 license and Real Time Engineers Ltd. contact details.
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50 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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51 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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52 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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54 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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55 Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS
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56 licenses offer ticketed support, indemnification and middleware.
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58 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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59 engineered and independently SIL3 certified version for use in safety and
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60 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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92 * LED tasks - These just demonstrate how multiple instances of a single task
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93 * definition can be created. Each LED task simply toggles an LED. The task
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94 * parameter is used to pass the number of the LED to be toggled into the task.
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96 * "uIP" task - This is the task that handles the uIP stack. All TCP/IP
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97 * processing is performed in this task.
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99 * "Fast Interrupt Test" - A high frequency periodic interrupt is generated
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100 * using a free running timer to demonstrate the use of the
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101 * configKERNEL_INTERRUPT_PRIORITY configuration constant. The interrupt
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102 * service routine measures the number of processor clocks that occur between
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103 * each interrupt - and in so doing measures the jitter in the interrupt timing.
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104 * The maximum measured jitter time is latched in the ulMaxJitter variable, and
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105 * displayed on the OLED display by the 'OLED' task as described below. The
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106 * fast interrupt is configured and handled in the timertest.c source file.
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110 /* Standard includes. */
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113 /* Scheduler includes. */
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114 #include "FreeRTOS.h"
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117 #include "semphr.h"
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119 /* Library includes. */
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120 #include "stm32f10x_it.h"
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121 #include "stm32f10x_tim.h"
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122 #include "STM3210D_lcd.h"
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124 /* Demo app includes. */
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125 #include "BlockQ.h"
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126 #include "integer.h"
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128 #include "partest.h"
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129 #include "semtest.h"
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131 #include "GenQTest.h"
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133 #include "recmutex.h"
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136 /* The time between cycles of the 'check' functionality (defined within the
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138 #define mainCHECK_DELAY ( ( portTickType ) 5000 / portTICK_RATE_MS )
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140 /* Task priorities. */
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141 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
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142 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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143 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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144 #define mainUIP_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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145 #define mainFLASH_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
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146 #define mainLCD_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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147 #define mainINTEGER_TASK_PRIORITY ( tskIDLE_PRIORITY )
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148 #define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )
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150 /* The WEB server has a larger stack as it utilises stack hungry string
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151 handling library calls. */
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152 #define mainBASIC_WEB_STACK_SIZE ( configMINIMAL_STACK_SIZE * 4 )
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154 /* The length of the queue used to send messages to the LCD task. */
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155 #define mainQUEUE_SIZE ( 3 )
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157 /* The period of the system clock in nano seconds. This is used to calculate
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158 the jitter time in nano seconds. */
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159 #define mainNS_PER_CLOCK ( ( unsigned long ) ( ( 1.0 / ( double ) configCPU_CLOCK_HZ ) * 1000000000.0 ) )
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161 /*-----------------------------------------------------------*/
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164 * Configure the hardware for the demo.
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166 static void prvSetupHardware( void );
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169 * Very simple task that toggles an LED.
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171 static void prvLCDTask( void *pvparameters );
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174 * The task that handles the uIP stack. All TCP/IP processing is performed in
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177 extern void vuIP_Task( void *pvParameters );
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180 * The LCD gatekeeper task as described in the comments at the top of this file.
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182 static void prvLCDTask( void *pvParameters );
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185 * Configures the high frequency timers - those used to measure the timing
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186 * jitter while the real time kernel is executing.
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188 extern void vSetupHighFrequencyTimer( void );
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190 /*-----------------------------------------------------------*/
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192 /* The queue used to send messages to the LCD task. */
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193 xQueueHandle xLCDQueue;
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195 /*-----------------------------------------------------------*/
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203 prvSetupHardware();
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205 /* Start the standard demo tasks. These are just here to exercise the
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206 kernel port and provide examples of how the FreeRTOS API can be used. */
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207 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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208 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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209 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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210 vStartIntegerMathTasks( mainINTEGER_TASK_PRIORITY );
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211 vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
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212 vStartLEDFlashTasks( mainFLASH_TASK_PRIORITY );
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213 vStartQueuePeekTasks();
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214 vStartRecursiveMutexTasks();
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216 /* Create the uIP task. The WEB server runs in this task. */
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217 xTaskCreate( vuIP_Task, ( signed char * ) "uIP", mainBASIC_WEB_STACK_SIZE, ( void * ) NULL, mainUIP_TASK_PRIORITY, NULL );
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219 /* Create the queue used by the LCD task. Messages for display on the LCD
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220 are received via this queue. */
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221 xLCDQueue = xQueueCreate( mainQUEUE_SIZE, sizeof( char * ) );
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223 /* Start the LCD gatekeeper task - as described in the comments at the top
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225 xTaskCreate( prvLCDTask, ( signed char * ) "LCD", configMINIMAL_STACK_SIZE * 2, NULL, mainLCD_TASK_PRIORITY, NULL );
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227 /* Configure the high frequency interrupt used to measure the interrupt
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228 jitter time. When debugging it can be helpful to comment this line out
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229 to prevent the debugger repeatedly going into the interrupt service
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231 vSetupHighFrequencyTimer();
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233 /* Start the scheduler. */
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234 vTaskStartScheduler();
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236 /* Will only get here if there was insufficient memory to create the idle
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237 task. The idle task is created within vTaskStartScheduler(). */
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240 /*-----------------------------------------------------------*/
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242 static void prvLCDTask( void *pvParameters )
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244 unsigned char *pucMessage;
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245 unsigned long ulLine = Line3;
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246 const unsigned long ulLineHeight = 24;
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247 static char cMsgBuf[ 30 ];
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248 extern unsigned short usMaxJitter;
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250 ( void ) pvParameters;
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252 /* The LCD gatekeeper task as described in the comments at the top of this
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255 /* Initialise the LCD and display a startup message that includes the
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256 configured IP address. */
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257 STM3210D_LCD_Init();
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259 LCD_SetTextColor(Green);
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260 LCD_DisplayStringLine( Line0, ( unsigned char * ) " www.FreeRTOS.org" );
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261 LCD_SetTextColor(Blue);
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262 sprintf( cMsgBuf, " %d.%d.%d.%d", configIP_ADDR0, configIP_ADDR1, configIP_ADDR2, configIP_ADDR3 );
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263 LCD_DisplayStringLine( Line1, ( unsigned char * ) cMsgBuf );
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264 LCD_SetTextColor(Black);
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268 /* Wait for a message to arrive to be displayed. */
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269 xQueueReceive( xLCDQueue, &pucMessage, portMAX_DELAY );
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271 /* Clear the current line of text. */
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272 LCD_ClearLine( ulLine );
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274 /* Move on to the next line. */
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275 ulLine += ulLineHeight;
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276 if( ulLine > Line9 )
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281 /* Display the received text, and the max jitter value. */
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282 sprintf( cMsgBuf, "%s [%uns]", pucMessage, usMaxJitter * mainNS_PER_CLOCK );
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283 LCD_DisplayStringLine( ulLine, ( unsigned char * ) cMsgBuf );
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286 /*-----------------------------------------------------------*/
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288 static void prvSetupHardware( void )
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290 /* Start with the clocks in their expected state. */
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293 /* Enable HSE (high speed external clock). */
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294 RCC_HSEConfig( RCC_HSE_ON );
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296 /* Wait till HSE is ready. */
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297 while( RCC_GetFlagStatus( RCC_FLAG_HSERDY ) == RESET )
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301 /* 2 wait states required on the flash. */
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302 *( ( unsigned long * ) 0x40022000 ) = 0x02;
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304 /* HCLK = SYSCLK */
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305 RCC_HCLKConfig( RCC_SYSCLK_Div1 );
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308 RCC_PCLK2Config( RCC_HCLK_Div1 );
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310 /* PCLK1 = HCLK/2 */
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311 RCC_PCLK1Config( RCC_HCLK_Div2 );
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313 /* PLLCLK = (25MHz / 2 ) * 5 = 62.5 MHz. */
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314 RCC_PLLConfig( RCC_PLLSource_HSE_Div2, RCC_PLLMul_5 );
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317 RCC_PLLCmd( ENABLE );
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319 /* Wait till PLL is ready. */
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320 while(RCC_GetFlagStatus(RCC_FLAG_PLLRDY) == RESET)
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324 /* Select PLL as system clock source. */
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325 RCC_SYSCLKConfig( RCC_SYSCLKSource_PLLCLK );
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327 /* Wait till PLL is used as system clock source. */
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328 while( RCC_GetSYSCLKSource() != 0x08 )
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332 /* Enable GPIOA, GPIOB, GPIOC, GPIOD, GPIOE and AFIO clocks */
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333 RCC_APB2PeriphClockCmd( RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOB |RCC_APB2Periph_GPIOC
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334 | RCC_APB2Periph_GPIOD | RCC_APB2Periph_GPIOE | RCC_APB2Periph_AFIO, ENABLE );
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336 /* Set the Vector Table base address at 0x08000000 */
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337 NVIC_SetVectorTable( NVIC_VectTab_FLASH, 0x0 );
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339 NVIC_PriorityGroupConfig( NVIC_PriorityGroup_4 );
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341 /* Configure HCLK clock as SysTick clock source. */
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342 SysTick_CLKSourceConfig( SysTick_CLKSource_HCLK );
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344 /* Initialise the IO used for the LED outputs. */
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345 vParTestInitialise();
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347 /*-----------------------------------------------------------*/
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349 void vApplicationStackOverflowHook( xTaskHandle pxTask, signed char *pcTaskName )
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351 /* This function will get called if a task overflows its stack. If the
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352 parameters are corrupt then inspect pxCurrentTCB to find which was the
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356 ( void ) pcTaskName;
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360 /*-----------------------------------------------------------*/
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362 void vApplicationTickHook( void )
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364 char *pcMessage = "Status: PASS";
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365 static unsigned long ulTicksSinceLastDisplay = 0;
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366 portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
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368 /* Called from every tick interrupt as described in the comments at the top
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371 Have enough ticks passed to make it time to perform our health status
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373 ulTicksSinceLastDisplay++;
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374 if( ulTicksSinceLastDisplay >= mainCHECK_DELAY )
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376 /* Reset the counter so these checks run again in mainCHECK_DELAY
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378 ulTicksSinceLastDisplay = 0;
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380 /* Has an error been found in any task? */
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381 if( xAreGenericQueueTasksStillRunning() != pdTRUE )
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383 pcMessage = "ERROR: GEN Q";
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385 else if( xAreQueuePeekTasksStillRunning() != pdTRUE )
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387 pcMessage = "ERROR: PEEK Q";
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389 else if( xAreBlockingQueuesStillRunning() != pdTRUE )
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391 pcMessage = "ERROR: BLOCK Q";
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393 else if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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395 pcMessage = "ERROR: SEMAPHR";
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397 else if( xArePollingQueuesStillRunning() != pdTRUE )
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399 pcMessage = "ERROR: POLL Q";
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401 else if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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403 pcMessage = "ERROR: INT MATH";
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405 else if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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407 pcMessage = "ERROR: REC MUTEX";
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410 /* Send the message to the OLED gatekeeper for display. The
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411 xHigherPriorityTaskWoken parameter is not actually used here
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412 as this function is running in the tick interrupt anyway - but
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413 it must still be supplied. */
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414 xHigherPriorityTaskWoken = pdFALSE;
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415 xQueueSendFromISR( xLCDQueue, &pcMessage, &xHigherPriorityTaskWoken );
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418 /*-----------------------------------------------------------*/
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