2 FreeRTOS V8.2.0rc1 - 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 This file is part of the FreeRTOS distribution.
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9 FreeRTOS is free software; you can redistribute it and/or modify it under
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10 the terms of the GNU General Public License (version 2) as published by the
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11 Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
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13 >>! NOTE: The modification to the GPL is included to allow you to !<<
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14 >>! distribute a combined work that includes FreeRTOS without being !<<
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15 >>! obliged to provide the source code for proprietary components !<<
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16 >>! outside of the FreeRTOS kernel. !<<
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18 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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19 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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20 FOR A PARTICULAR PURPOSE. Full license text is available on the following
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21 link: http://www.freertos.org/a00114.html
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25 ***************************************************************************
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27 * Having a problem? Start by reading the FAQ "My application does *
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28 * not run, what could be wrong?". Have you defined configASSERT()? *
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30 * http://www.FreeRTOS.org/FAQHelp.html *
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32 ***************************************************************************
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34 ***************************************************************************
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36 * FreeRTOS provides completely free yet professionally developed, *
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37 * robust, strictly quality controlled, supported, and cross *
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38 * platform software that is more than just the market leader, it *
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39 * is the industry's de facto standard. *
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41 * Help yourself get started quickly while simultaneously helping *
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42 * to support the FreeRTOS project by purchasing a FreeRTOS *
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43 * tutorial book, reference manual, or both: *
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44 * http://www.FreeRTOS.org/Documentation *
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46 ***************************************************************************
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48 ***************************************************************************
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50 * Investing in training allows your team to be as productive as *
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51 * possible as early as possible, lowering your overall development *
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52 * cost, and enabling you to bring a more robust product to market *
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53 * earlier than would otherwise be possible. Richard Barry is both *
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54 * the architect and key author of FreeRTOS, and so also the world's *
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55 * leading authority on what is the world's most popular real time *
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56 * kernel for deeply embedded MCU designs. Obtaining your training *
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57 * from Richard ensures your team will gain directly from his in-depth *
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58 * product knowledge and years of usage experience. Contact Real Time *
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59 * Engineers Ltd to enquire about the FreeRTOS Masterclass, presented *
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60 * by Richard Barry: http://www.FreeRTOS.org/contact
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62 ***************************************************************************
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64 ***************************************************************************
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66 * You are receiving this top quality software for free. Please play *
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67 * fair and reciprocate by reporting any suspected issues and *
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68 * participating in the community forum: *
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69 * http://www.FreeRTOS.org/support *
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73 ***************************************************************************
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75 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
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76 license and Real Time Engineers Ltd. contact details.
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78 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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79 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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80 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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82 http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
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83 Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
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85 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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86 Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
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87 licenses offer ticketed support, indemnification and commercial middleware.
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89 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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90 engineered and independently SIL3 certified version for use in safety and
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91 mission critical applications that require provable dependability.
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96 /******************************************************************************
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97 * NOTE 1: This project provides two demo applications. A low power tickless
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98 * project, and a more comprehensive test and demo application. The
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99 * configCREATE_LOW_POWER_DEMO setting in FreeRTOSConfig.h is used to
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100 * select between the two. See the notes on using
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101 * configCREATE_LOW_POWER_DEMO in FreeRTOSConfig.h. This file implements
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102 * the comprehensive test and demo version.
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104 * NOTE 2: This file only contains the source code that is specific to the
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105 * full demo. Generic functions, such FreeRTOS hook functions, and functions
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106 * required to configure the hardware, are defined in main.c.
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107 ******************************************************************************
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109 * main_full() creates all the demo application tasks and a software timer, then
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110 * starts the scheduler. The web documentation provides more details of the
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111 * standard demo application tasks, which provide no particular functionality,
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112 * but do provide a good example of how to use the FreeRTOS API.
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114 * In addition to the standard demo tasks, the following tasks and tests are
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115 * defined and/or created within this file:
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117 * "Check" timer - The check software timer period is initially set to three
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118 * seconds. The callback function associated with the check software timer
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119 * checks that all the standard demo tasks are not only still executing, but
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120 * are executing without reporting any errors. If the check software timer
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121 * discovers that a task has either stalled, or reported an error, then it
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122 * changes its own execution period from the initial three seconds, to just
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123 * 200ms. The check software timer callback function also toggles an LED each
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124 * time it is called. This provides a visual indication of the system status:
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125 * If the LED toggles every three seconds, then no issues have been discovered.
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126 * If the LED toggles every 200ms, then an issue has been discovered with at
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129 * See the documentation page for this demo on the FreeRTOS.org web site for
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130 * full information, including hardware setup requirements.
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133 /* Standard includes. */
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136 /* Kernel includes. */
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137 #include "FreeRTOS.h"
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139 #include "timers.h"
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140 #include "semphr.h"
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142 /* Standard demo application includes. */
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144 #include "semtest.h"
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145 #include "dynamic.h"
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146 #include "BlockQ.h"
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147 #include "blocktim.h"
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148 #include "countsem.h"
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149 #include "GenQTest.h"
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150 #include "recmutex.h"
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152 /* ST library functions. */
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153 #include "stm32l1xx.h"
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154 #include "discover_board.h"
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155 #include "stm32l_discovery_lcd.h"
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157 /* Priorities for the demo application tasks. */
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158 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2UL )
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159 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1UL )
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160 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2UL )
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162 /* A block time of zero simply means "don't block". */
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163 #define mainDONT_BLOCK ( 0UL )
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165 /* The period after which the check timer will expire providing no errors
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166 have been reported by any of the standard demo tasks. ms are converted to the
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167 equivalent in ticks using the portTICK_PERIOD_MS constant. */
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168 #define mainCHECK_TIMER_PERIOD_MS ( 3000UL / portTICK_PERIOD_MS )
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170 /* The period at which the check timer will expire, in ms, if an error has been
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171 reported in one of the standard demo tasks. ms are converted to the equivalent
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172 in ticks using the portTICK_PERIOD_MS constant. */
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173 #define mainERROR_CHECK_TIMER_PERIOD_MS ( 200UL / portTICK_PERIOD_MS )
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175 /*-----------------------------------------------------------*/
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178 * The check timer callback function, as described at the top of this file.
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180 static void prvCheckTimerCallback( TimerHandle_t xTimer );
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183 * Configure the LCD, then write welcome message.
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185 static void prvConfigureLCD( void );
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187 /*-----------------------------------------------------------*/
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189 void main_full( void )
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191 TimerHandle_t xCheckTimer = NULL;
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193 /* The LCD is only used in the Full demo. */
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196 /* Start all the other standard demo/test tasks. They have not particular
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197 functionality, but do demonstrate how to use the FreeRTOS API and test the
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199 vStartDynamicPriorityTasks();
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200 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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201 vCreateBlockTimeTasks();
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202 vStartCountingSemaphoreTasks();
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203 vStartGenericQueueTasks( tskIDLE_PRIORITY );
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204 vStartRecursiveMutexTasks();
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205 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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206 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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208 /* Create the software timer that performs the 'check' functionality,
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209 as described at the top of this file. */
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210 xCheckTimer = xTimerCreate( "CheckTimer", /* A text name, purely to help debugging. */
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211 ( mainCHECK_TIMER_PERIOD_MS ), /* The timer period, in this case 3000ms (3s). */
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212 pdTRUE, /* This is an auto-reload timer, so xAutoReload is set to pdTRUE. */
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213 ( void * ) 0, /* The ID is not used, so can be set to anything. */
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214 prvCheckTimerCallback /* The callback function that inspects the status of all the other tasks. */
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217 if( xCheckTimer != NULL )
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219 xTimerStart( xCheckTimer, mainDONT_BLOCK );
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222 /* Start the scheduler. */
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223 vTaskStartScheduler();
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225 /* If all is well, the scheduler will now be running, and the following line
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226 will never be reached. If the following line does execute, then there was
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227 insufficient FreeRTOS heap memory available for the idle and/or timer tasks
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228 to be created. See the memory management section on the FreeRTOS web site
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229 for more details. */
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232 /*-----------------------------------------------------------*/
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234 static void prvCheckTimerCallback( TimerHandle_t xTimer )
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236 static long lChangedTimerPeriodAlready = pdFALSE;
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237 unsigned long ulErrorFound = pdFALSE;
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239 /* Check all the demo tasks to ensure they are all still running, and that
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240 none have detected an error. */
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242 if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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244 ulErrorFound = pdTRUE;
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247 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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249 ulErrorFound = pdTRUE;
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252 if ( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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254 ulErrorFound = pdTRUE;
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257 if ( xAreGenericQueueTasksStillRunning() != pdTRUE )
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259 ulErrorFound = pdTRUE;
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262 if ( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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264 ulErrorFound = pdTRUE;
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267 if( xArePollingQueuesStillRunning() != pdTRUE )
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269 ulErrorFound = pdTRUE;
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272 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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274 ulErrorFound = pdTRUE;
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277 /* Toggle the check LED to give an indication of the system status. If
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278 the LED toggles every mainCHECK_TIMER_PERIOD_MS milliseconds then
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279 everything is ok. A faster toggle indicates an error. */
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280 GPIO_TOGGLE( LD_GPIO_PORT, LD_GREEN_GPIO_PIN );
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282 /* Have any errors been latch in ulErrorFound? If so, shorten the
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283 period of the check timer to mainERROR_CHECK_TIMER_PERIOD_MS milliseconds.
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284 This will result in an increase in the rate at which mainCHECK_LED
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286 if( ulErrorFound != pdFALSE )
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288 if( lChangedTimerPeriodAlready == pdFALSE )
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290 lChangedTimerPeriodAlready = pdTRUE;
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292 /* This call to xTimerChangePeriod() uses a zero block time.
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293 Functions called from inside of a timer callback function must
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294 *never* attempt to block. */
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295 xTimerChangePeriod( xTimer, ( mainERROR_CHECK_TIMER_PERIOD_MS ), mainDONT_BLOCK );
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299 /*-----------------------------------------------------------*/
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301 static void prvConfigureLCD( void )
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303 GPIO_InitTypeDef GPIO_InitStructure;
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305 /* Enable necessary clocks. */
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306 RCC_AHBPeriphClockCmd( RCC_AHBPeriph_GPIOA | RCC_AHBPeriph_GPIOB | RCC_AHBPeriph_GPIOC, ENABLE );
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307 RCC_APB1PeriphClockCmd( RCC_APB1Periph_LCD, ENABLE );
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308 PWR_RTCAccessCmd( ENABLE );
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309 RCC_LSEConfig( ENABLE );
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310 RCC_RTCCLKConfig( RCC_RTCCLKSource_LSE );
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311 RCC_RTCCLKCmd( ENABLE );
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313 /* Configure Port A LCD Output pins as alternate function. */
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314 GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1 | GPIO_Pin_2 | GPIO_Pin_3 | GPIO_Pin_8 | GPIO_Pin_9 |GPIO_Pin_10 |GPIO_Pin_15;
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315 GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
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316 GPIO_Init( GPIOA, &GPIO_InitStructure );
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318 /* Select LCD alternate function for Port A LCD Output pins. */
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319 GPIO_PinAFConfig( GPIOA, GPIO_PinSource1, GPIO_AF_LCD );
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320 GPIO_PinAFConfig( GPIOA, GPIO_PinSource2, GPIO_AF_LCD );
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321 GPIO_PinAFConfig( GPIOA, GPIO_PinSource3, GPIO_AF_LCD );
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322 GPIO_PinAFConfig( GPIOA, GPIO_PinSource8, GPIO_AF_LCD );
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323 GPIO_PinAFConfig( GPIOA, GPIO_PinSource9, GPIO_AF_LCD );
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324 GPIO_PinAFConfig( GPIOA, GPIO_PinSource10, GPIO_AF_LCD );
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325 GPIO_PinAFConfig( GPIOA, GPIO_PinSource15, GPIO_AF_LCD );
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327 /* Configure Port B LCD Output pins as alternate function */
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328 GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3 | GPIO_Pin_4 | GPIO_Pin_5 | GPIO_Pin_8 | GPIO_Pin_9 | GPIO_Pin_10 | GPIO_Pin_11 | GPIO_Pin_12 | GPIO_Pin_13 | GPIO_Pin_14 | GPIO_Pin_15;
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329 GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
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330 GPIO_Init( GPIOB, &GPIO_InitStructure );
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332 /* Select LCD alternate function for Port B LCD Output pins */
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333 GPIO_PinAFConfig( GPIOB, GPIO_PinSource3, GPIO_AF_LCD );
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334 GPIO_PinAFConfig( GPIOB, GPIO_PinSource4, GPIO_AF_LCD );
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335 GPIO_PinAFConfig( GPIOB, GPIO_PinSource5, GPIO_AF_LCD );
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336 GPIO_PinAFConfig( GPIOB, GPIO_PinSource8, GPIO_AF_LCD );
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337 GPIO_PinAFConfig( GPIOB, GPIO_PinSource9, GPIO_AF_LCD );
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338 GPIO_PinAFConfig( GPIOB, GPIO_PinSource10, GPIO_AF_LCD );
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339 GPIO_PinAFConfig( GPIOB, GPIO_PinSource11, GPIO_AF_LCD );
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340 GPIO_PinAFConfig( GPIOB, GPIO_PinSource12, GPIO_AF_LCD );
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341 GPIO_PinAFConfig( GPIOB, GPIO_PinSource13, GPIO_AF_LCD );
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342 GPIO_PinAFConfig( GPIOB, GPIO_PinSource14, GPIO_AF_LCD );
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343 GPIO_PinAFConfig( GPIOB, GPIO_PinSource15, GPIO_AF_LCD );
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345 /* Configure Port C LCD Output pins as alternate function */
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346 GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1 | GPIO_Pin_2 | GPIO_Pin_3 | GPIO_Pin_6 | GPIO_Pin_7 | GPIO_Pin_8 | GPIO_Pin_9 | GPIO_Pin_10 |GPIO_Pin_11 ;
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347 GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
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348 GPIO_Init( GPIOC, &GPIO_InitStructure );
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350 /* Select LCD alternate function for Port B LCD Output pins */
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351 GPIO_PinAFConfig( GPIOC, GPIO_PinSource0, GPIO_AF_LCD );
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352 GPIO_PinAFConfig( GPIOC, GPIO_PinSource1, GPIO_AF_LCD );
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353 GPIO_PinAFConfig( GPIOC, GPIO_PinSource2, GPIO_AF_LCD );
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354 GPIO_PinAFConfig( GPIOC, GPIO_PinSource3, GPIO_AF_LCD );
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355 GPIO_PinAFConfig( GPIOC, GPIO_PinSource6, GPIO_AF_LCD );
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356 GPIO_PinAFConfig( GPIOC, GPIO_PinSource7, GPIO_AF_LCD );
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357 GPIO_PinAFConfig( GPIOC, GPIO_PinSource8, GPIO_AF_LCD );
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358 GPIO_PinAFConfig( GPIOC, GPIO_PinSource9, GPIO_AF_LCD );
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359 GPIO_PinAFConfig( GPIOC, GPIO_PinSource10, GPIO_AF_LCD );
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360 GPIO_PinAFConfig( GPIOC, GPIO_PinSource11, GPIO_AF_LCD );
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363 LCD_GLASS_DisplayString( "F'RTOS" );
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