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[/] [openrisc/] [trunk/] [rtos/] [freertos-6.1.1/] [Demo/] [CORTEX_AT91SAM3U256_IAR/] [main.c] - Blame information for rev 580

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1 580 jeremybenn
/*
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    FreeRTOS V6.1.1 - Copyright (C) 2011 Real Time Engineers Ltd.
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    ***************************************************************************
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    *                                                                         *
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    * If you are:                                                             *
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    *                                                                         *
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    *    + New to FreeRTOS,                                                   *
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    *    + Wanting to learn FreeRTOS or multitasking in general quickly       *
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    *    + Looking for basic training,                                        *
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    *    + Wanting to improve your FreeRTOS skills and productivity           *
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    *                                                                         *
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    * then take a look at the FreeRTOS books - available as PDF or paperback  *
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    *                                                                         *
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    *        "Using the FreeRTOS Real Time Kernel - a Practical Guide"        *
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    *                  http://www.FreeRTOS.org/Documentation                  *
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    *                                                                         *
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    * A pdf reference manual is also available.  Both are usually delivered   *
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    * to your inbox within 20 minutes to two hours when purchased between 8am *
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    * and 8pm GMT (although please allow up to 24 hours in case of            *
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    * exceptional circumstances).  Thank you for your support!                *
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    *                                                                         *
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    ***************************************************************************
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    This file is part of the FreeRTOS distribution.
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    FreeRTOS is free software; you can redistribute it and/or modify it under
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    the terms of the GNU General Public License (version 2) as published by the
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    Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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    ***NOTE*** The exception to the GPL is included to allow you to distribute
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    a combined work that includes FreeRTOS without being obliged to provide the
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    source code for proprietary components outside of the FreeRTOS kernel.
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    FreeRTOS is distributed in the hope that it will be useful, but WITHOUT
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    ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
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    FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
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    more details. You should have received a copy of the GNU General Public
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    License and the FreeRTOS license exception along with FreeRTOS; if not it
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    can be viewed here: http://www.freertos.org/a00114.html and also obtained
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    by writing to Richard Barry, contact details for whom are available on the
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    FreeRTOS WEB site.
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    1 tab == 4 spaces!
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    http://www.FreeRTOS.org - Documentation, latest information, license and
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    contact details.
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    http://www.SafeRTOS.com - A version that is certified for use in safety
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    critical systems.
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    http://www.OpenRTOS.com - Commercial support, development, porting,
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    licensing and training services.
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*/
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/*
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 * Creates all the demo application tasks, then starts the scheduler.  The WEB
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 * documentation provides more details of the standard demo application tasks
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 * (which just exist to test the kernel port and provide an example of how to use
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 * each FreeRTOS API function).
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 *
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 * In addition to the standard demo tasks, the following tasks and tests are
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 * defined and/or created within this file:
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 *
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 * "LCD" task - the LCD task is a 'gatekeeper' task.  It is the only task that
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 * is permitted to access the display directly.  Other tasks wishing to write a
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 * message to the LCD send the message on a queue to the LCD task instead of
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 * accessing the LCD themselves.  The LCD task just blocks on the queue waiting
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 * for messages - waking and displaying the messages as they arrive.  The use
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 * of a gatekeeper in this manner permits both tasks and interrupts to write to
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 * the LCD without worrying about mutual exclusion.  This is demonstrated by the
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 * check hook (see below) which sends messages to the display even though it
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 * executes from an interrupt context.
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 *
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 * "Check" hook -  This only executes fully every five seconds from the tick
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 * hook.  Its main function is to check that all the standard demo tasks are
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 * still operational.  Should any unexpected behaviour be discovered within a
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 * demo task then the tick hook will write an error to the LCD (via the LCD task).
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 * If all the demo tasks are executing with their expected behaviour then the
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 * check task writes PASS to the LCD (again via the LCD task), as described above.
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 *
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 */
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/* Scheduler includes. */
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#include "FreeRTOS.h"
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#include "task.h"
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#include "queue.h"
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#include "semphr.h"
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/* Demo app includes. */
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#include "BlockQ.h"
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#include "integer.h"
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#include "blocktim.h"
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#include "flash.h"
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#include "partest.h"
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#include "semtest.h"
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#include "PollQ.h"
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#include "lcd_message.h"
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#include "GenQTest.h"
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#include "QPeek.h"
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#include "recmutex.h"
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#include "flash.h"
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#include "comtest2.h"
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/* Atmel library includes. */
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#include <board.h>
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#include <lcd/color.h>
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#include <lcd/lcdd.h>
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#include <lcd/draw.h>
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/*-----------------------------------------------------------*/
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/* The time between cycles of the 'check' functionality (defined within the
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tick hook). */
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#define mainCHECK_DELAY                                         ( ( portTickType ) 5000 / portTICK_RATE_MS )
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/* The LCD task uses the sprintf function so requires a little more stack too. */
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#define mainLCD_TASK_STACK_SIZE                         ( configMINIMAL_STACK_SIZE * 2 )
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/* Task priorities. */
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#define mainQUEUE_POLL_PRIORITY                         ( tskIDLE_PRIORITY + 2 )
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#define mainSEM_TEST_PRIORITY                           ( tskIDLE_PRIORITY + 1 )
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#define mainBLOCK_Q_PRIORITY                            ( tskIDLE_PRIORITY + 2 )
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#define mainLED_TASK_PRIORITY                           ( tskIDLE_PRIORITY + 1 )
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#define mainCOM_TEST_PRIORITY                           ( tskIDLE_PRIORITY + 2 )
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#define mainINTEGER_TASK_PRIORITY           ( tskIDLE_PRIORITY )
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#define mainGEN_QUEUE_TASK_PRIORITY                     ( tskIDLE_PRIORITY )
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/* The maximum number of message that can be waiting for display at any one
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time. */
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#define mainLCD_QUEUE_SIZE                                      ( 3 )
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/* Constants used by the comtest tasks.  There isn't a spare LED so an invalid
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LED is specified. */
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#define mainBAUD_RATE                                           ( 115200 )
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#define mainCOM_TEST_LED                                        ( 10 )
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/*-----------------------------------------------------------*/
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/*
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 * Configure the hardware for the demo.
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 */
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static void prvSetupHardware( void );
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/*
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 * The LCD gatekeeper task.  Tasks wishing to write to the LCD do not access
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 * the LCD directly, but instead send the message to the LCD gatekeeper task.
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 */
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static void prvLCDTask( void *pvParameters );
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/*
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 * Hook functions that can get called by the kernel.  The 'check' functionality
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 * is implemented within the tick hook.
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 */
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void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed char *pcTaskName );
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/*
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 * The tick hook function as described in the comments at the top of this file.
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 * The tick hook is used to monitor all the standard demo tasks to look for
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 * errors.  The tick hook is also used to demonstrate how the LCD gatekeeper
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 * task can be used to allow interrupts to write to the LCD.
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 */
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void vApplicationTickHook( void );
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165
/*-----------------------------------------------------------*/
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/* The queue used to send messages to the LCD task. */
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static xQueueHandle xLCDQueue;
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170
/*-----------------------------------------------------------*/
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int main( void )
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{
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        /* Prepare the hardware. */
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        prvSetupHardware();
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        /* Create the queue used by the LCD task.  Messages for display on the LCD
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        are received via this queue. */
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        xLCDQueue = xQueueCreate( mainLCD_QUEUE_SIZE, sizeof( xLCDMessage ) );
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        /* Start the standard demo tasks.  These do nothing other than test the
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        port and provide some APU usage examples. */
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    vStartIntegerMathTasks( mainINTEGER_TASK_PRIORITY );
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    vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
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        vStartRecursiveMutexTasks();
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        vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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        vCreateBlockTimeTasks();
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        vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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        vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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        vStartQueuePeekTasks();
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        vStartLEDFlashTasks( mainLED_TASK_PRIORITY );
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        vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainBAUD_RATE, mainCOM_TEST_LED );
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        /* Start the tasks defined within this file/specific to this demo. */
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        xTaskCreate( prvLCDTask, ( signed char * ) "LCD", mainLCD_TASK_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
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        /* Start the scheduler. */
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        vTaskStartScheduler();
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    /* Will only get here if there was insufficient memory to create the idle
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    task. */
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        return 0;
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}
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/*-----------------------------------------------------------*/
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void prvSetupHardware( void )
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{
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        /* Initialise the port used for the LED outputs. */
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        vParTestInitialise();
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}
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/*-----------------------------------------------------------*/
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void vApplicationTickHook( void )
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{
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static xLCDMessage xMessage = { "PASS" };
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static unsigned long ulTicksSinceLastDisplay = 0;
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portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
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        /* Called from every tick interrupt.  Have enough ticks passed to make it
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        time to perform our health status check again? */
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        ulTicksSinceLastDisplay++;
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        if( ulTicksSinceLastDisplay >= mainCHECK_DELAY )
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        {
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                ulTicksSinceLastDisplay = 0;
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                /* Has an error been found in any task? */
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                if( xAreGenericQueueTasksStillRunning() != pdTRUE )
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                {
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                        xMessage.pcMessage = "ERROR IN GEN Q";
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                }
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            if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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            {
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                xMessage.pcMessage = "ERROR IN MATH";
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            }
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                else if( xAreBlockingQueuesStillRunning() != pdTRUE )
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                {
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                        xMessage.pcMessage = "ERROR IN BLOCK Q";
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                }
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                else if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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                {
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                        xMessage.pcMessage = "ERROR IN BLOCK TIME";
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                }
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                else if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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                {
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                        xMessage.pcMessage = "ERROR IN SEMAPHORE";
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                }
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                else if( xArePollingQueuesStillRunning() != pdTRUE )
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                {
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                        xMessage.pcMessage = "ERROR IN POLL Q";
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                }
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                else if( xAreQueuePeekTasksStillRunning() != pdTRUE )
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                {
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                        xMessage.pcMessage = "ERROR IN PEEK Q";
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                }
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                else if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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                {
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                        xMessage.pcMessage = "ERROR IN REC MUTEX";
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                }
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                else if( xAreComTestTasksStillRunning() != pdTRUE )
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                {
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                        xMessage.pcMessage = "ERROR IN COMTEST";
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                }
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                /* Send the message to the LCD gatekeeper for display. */
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                xHigherPriorityTaskWoken = pdFALSE;
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                xQueueSendFromISR( xLCDQueue, &xMessage, &xHigherPriorityTaskWoken );
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        }
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}
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/*-----------------------------------------------------------*/
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void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed char *pcTaskName )
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{
273
        ( void ) pxTask;
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        ( void ) pcTaskName;
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276
        /* If the parameters have been corrupted then inspect pxCurrentTCB to
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        identify which task has overflowed its stack. */
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        for( ;; );
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}
280
/*-----------------------------------------------------------*/
281
 
282
static void prvLCDTask( void *pvParameters )
283
{
284
xLCDMessage xMessage;
285
unsigned long ulY = 0;
286
const unsigned long ulX = 5;
287
const unsigned long ulMaxY = 250, ulYIncrement = 22, ulWidth = 250, ulHeight = 20;;
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289
    /* Initialize LCD. */
290
    LCDD_Initialize();
291
    LCDD_Start();
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        LCDD_Fill( ( void * ) BOARD_LCD_BASE, COLOR_WHITE );
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        LCDD_DrawString( ( void * ) BOARD_LCD_BASE, 1, ulY + 3, "  www.FreeRTOS.org", COLOR_BLACK );
294
 
295
        for( ;; )
296
        {
297
                /* Wait for a message from the check function (which is executed in
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                the tick hook). */
299
                xQueueReceive( xLCDQueue, &xMessage, portMAX_DELAY );
300
 
301
                /* Clear the space where the old message was. */
302
        LCDD_DrawRectangle( ( void * ) BOARD_LCD_BASE, 0, ulY, ulWidth, ulHeight, COLOR_WHITE );
303
 
304
                /* Increment to the next drawing position. */
305
                ulY += ulYIncrement;
306
 
307
                /* Have the Y position moved past the end of the LCD? */
308
                if( ulY >= ulMaxY )
309
                {
310
                        ulY = 0;
311
                }
312
 
313
                /* Draw a new rectangle, in which the message will be written. */
314
        LCDD_DrawRectangle( ( void * ) BOARD_LCD_BASE, 0, ulY, ulWidth, ulHeight, COLOR_GREEN );
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316
                /* Write the message. */
317
        LCDD_DrawString( ( void * ) BOARD_LCD_BASE, ulX, ulY + 3, xMessage.pcMessage, COLOR_BLACK );
318
        }
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}

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