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488 lines
18 KiB
C
488 lines
18 KiB
C
/*
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FreeRTOS V9.0.0rc1 - Copyright (C) 2016 Real Time Engineers Ltd.
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All rights reserved
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VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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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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***************************************************************************
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>>! NOTE: The modification to the GPL is included to allow you to !<<
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>>! distribute a combined work that includes FreeRTOS without being !<<
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>>! obliged to provide the source code for proprietary components !<<
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>>! outside of the FreeRTOS kernel. !<<
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***************************************************************************
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FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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FOR A PARTICULAR PURPOSE. Full license text is available on the following
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link: http://www.freertos.org/a00114.html
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***************************************************************************
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* *
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* FreeRTOS provides completely free yet professionally developed, *
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* robust, strictly quality controlled, supported, and cross *
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* platform software that is more than just the market leader, it *
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* is the industry's de facto standard. *
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* *
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* Help yourself get started quickly while simultaneously helping *
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* to support the FreeRTOS project by purchasing a FreeRTOS *
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* tutorial book, reference manual, or both: *
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* http://www.FreeRTOS.org/Documentation *
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* *
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***************************************************************************
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http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
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the FAQ page "My application does not run, what could be wrong?". Have you
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defined configASSERT()?
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http://www.FreeRTOS.org/support - In return for receiving this top quality
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embedded software for free we request you assist our global community by
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participating in the support forum.
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http://www.FreeRTOS.org/training - Investing in training allows your team to
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be as productive as possible as early as possible. Now you can receive
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FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
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Ltd, and the world's leading authority on the world's leading RTOS.
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http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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compatible FAT file system, and our tiny thread aware UDP/IP stack.
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http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
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Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
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http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
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Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
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licenses offer ticketed support, indemnification and commercial middleware.
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http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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engineered and independently SIL3 certified version for use in safety and
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mission critical applications that require provable dependability.
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1 tab == 4 spaces!
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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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* 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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* "Fast Interrupt Test" - A high frequency periodic interrupt is generated
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* using a free running timer to demonstrate the use of the
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* configKERNEL_INTERRUPT_PRIORITY configuration constant. The interrupt
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* service routine measures the number of processor clocks that occur between
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* each interrupt - and in so doing measures the jitter in the interrupt timing.
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* The maximum measured jitter time is latched in the ulMaxJitter variable, and
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* displayed on the OLED display by the 'OLED' task as described below. The
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* fast interrupt is configured and handled in the timertest.c source file.
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*
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* "OLED" task - the OLED 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 OLED send the message on a queue to the OLED task instead of
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* accessing the OLED themselves. The OLED task just blocks on the queue waiting
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* for messages - waking and displaying the messages as they arrive.
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*
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* "Check" hook - This only executes every five seconds from the tick hook.
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* Its main function is to check that all the standard demo tasks are still
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* operational. Should any unexpected behaviour within a demo task be discovered
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* the tick hook will write an error to the OLED (via the OLED task). If all the
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* demo tasks are executing with their expected behaviour then the check task
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* writes PASS to the OLED (again via the OLED task), as described above.
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*
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* "uIP" task - This is the task that handles the uIP stack. All TCP/IP
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* processing is performed in this task.
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*/
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/*************************************************************************
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* Please ensure to read http://www.freertos.org/portLM3Sxxxx_Eclipse.html
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* which provides information on configuring and running this demo for the
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* various Luminary Micro EKs.
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*************************************************************************/
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/* Standard includes. */
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#include <stdio.h>
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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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/* Hardware library includes. */
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#include "hw_memmap.h"
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#include "hw_types.h"
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#include "hw_sysctl.h"
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#include "sysctl.h"
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#include "gpio.h"
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#include "grlib.h"
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#include "rit128x96x4.h"
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#include "osram128x64x4.h"
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#include "formike128x128x16.h"
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/* Demo app includes. */
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#include "BlockQ.h"
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#include "death.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 "bitmap.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 "IntQueue.h"
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#include "QueueSet.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 ( ( TickType_t ) 5000 / portTICK_PERIOD_MS )
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/* Size of the stack allocated to the uIP task. */
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#define mainBASIC_WEB_STACK_SIZE ( configMINIMAL_STACK_SIZE * 3 )
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/* The OLED task uses the sprintf function so requires a little more stack too. */
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#define mainOLED_TASK_STACK_SIZE ( configMINIMAL_STACK_SIZE + 50 )
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/* Task priorities. */
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#define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
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#define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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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 mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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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 mainOLED_QUEUE_SIZE ( 3 )
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/* Dimensions the buffer into which the jitter time is written. */
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#define mainMAX_MSG_LEN 25
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/* The period of the system clock in nano seconds. This is used to calculate
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the jitter time in nano seconds. */
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#define mainNS_PER_CLOCK ( ( unsigned long ) ( ( 1.0 / ( double ) configCPU_CLOCK_HZ ) * 1000000000.0 ) )
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/* Constants used when writing strings to the display. */
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#define mainCHARACTER_HEIGHT ( 9 )
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#define mainMAX_ROWS_128 ( mainCHARACTER_HEIGHT * 14 )
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#define mainMAX_ROWS_96 ( mainCHARACTER_HEIGHT * 10 )
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#define mainMAX_ROWS_64 ( mainCHARACTER_HEIGHT * 7 )
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#define mainFULL_SCALE ( 15 )
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#define ulSSI_FREQUENCY ( 3500000UL )
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/*-----------------------------------------------------------*/
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/*
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* The task that handles the uIP stack. All TCP/IP processing is performed in
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* this task.
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*/
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extern void vuIP_Task( void *pvParameters );
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/*
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* The display is written two by more than one task so is controlled by a
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* 'gatekeeper' task. This is the only task that is actually permitted to
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* access the display directly. Other tasks wanting to display a message send
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* the message to the gatekeeper.
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*/
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static void vOLEDTask( void *pvParameters );
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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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* Configures the high frequency timers - those used to measure the timing
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* jitter while the real time kernel is executing.
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*/
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extern void vSetupHighFrequencyTimer( void );
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/*
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* The idle hook is used to run a test of the scheduler context switch
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* mechanism.
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*/
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void vApplicationIdleHook( void ) __attribute__((naked));
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/*-----------------------------------------------------------*/
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/* The queue used to send messages to the OLED task. */
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QueueHandle_t xOLEDQueue;
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/* The welcome text. */
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const char * const pcWelcomeMessage = " www.FreeRTOS.org";
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/* Variables used to detect the test in the idle hook failing. */
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unsigned long ulIdleError = pdFALSE;
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/*-----------------------------------------------------------*/
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/*************************************************************************
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* Please ensure to read http://www.freertos.org/portLM3Sxxxx_Eclipse.html
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* which provides information on configuring and running this demo for the
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* various Luminary Micro EKs.
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*************************************************************************/
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int main( void )
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{
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prvSetupHardware();
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/* Create the queue used by the OLED task. Messages for display on the OLED
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are received via this queue. */
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xOLEDQueue = xQueueCreate( mainOLED_QUEUE_SIZE, sizeof( xOLEDMessage ) );
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/* Create the uIP task if running on a processor that includes a MAC and
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PHY. */
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if( SysCtlPeripheralPresent( SYSCTL_PERIPH_ETH ) )
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{
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xTaskCreate( vuIP_Task, "uIP", mainBASIC_WEB_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY - 1, NULL );
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}
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/* Start the standard demo tasks. */
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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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vStartIntegerMathTasks( mainINTEGER_TASK_PRIORITY );
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vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
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vStartQueuePeekTasks();
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vStartRecursiveMutexTasks();
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vStartInterruptQueueTasks();
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vStartQueueSetTasks();
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/* Start the tasks defined within this file/specific to this demo. */
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xTaskCreate( vOLEDTask, "OLED", mainOLED_TASK_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
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/* The suicide tasks must be created last as they need to know how many
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tasks were running prior to their creation in order to ascertain whether
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or not the correct/expected number of tasks are running at any given time. */
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vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
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/* Configure the high frequency interrupt used to measure the interrupt
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jitter time. */
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vSetupHighFrequencyTimer();
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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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for( ;; );
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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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/* If running on Rev A2 silicon, turn the LDO voltage up to 2.75V. This is
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a workaround to allow the PLL to operate reliably. */
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if( DEVICE_IS_REVA2 )
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{
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SysCtlLDOSet( SYSCTL_LDO_2_75V );
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}
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/* Set the clocking to run from the PLL at 50 MHz */
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SysCtlClockSet( SYSCTL_SYSDIV_4 | SYSCTL_USE_PLL | SYSCTL_OSC_MAIN | SYSCTL_XTAL_8MHZ );
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/* Enable Port F for Ethernet LEDs
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LED0 Bit 3 Output
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LED1 Bit 2 Output */
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SysCtlPeripheralEnable( SYSCTL_PERIPH_GPIOF );
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GPIODirModeSet( GPIO_PORTF_BASE, (GPIO_PIN_2 | GPIO_PIN_3), GPIO_DIR_MODE_HW );
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GPIOPadConfigSet( GPIO_PORTF_BASE, (GPIO_PIN_2 | GPIO_PIN_3 ), GPIO_STRENGTH_2MA, GPIO_PIN_TYPE_STD );
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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 xOLEDMessage 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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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( 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( xIsCreateTaskStillRunning() != pdTRUE )
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{
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xMessage.pcMessage = "ERROR IN CREATE";
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}
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else 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( 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( ulIdleError != pdFALSE )
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{
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xMessage.pcMessage = "ERROR IN HOOK";
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}
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else if( xAreIntQueueTasksStillRunning() != pdTRUE )
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{
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xMessage.pcMessage = "ERROR IN INT QUEUE";
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}
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else if( xAreQueueSetTasksStillRunning() != pdTRUE )
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{
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xMessage.pcMessage = "ERROR IN QUEUE SET";
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}
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/* Send the message to the OLED gatekeeper for display. */
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xHigherPriorityTaskWoken = pdFALSE;
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xQueueSendFromISR( xOLEDQueue, &xMessage, &xHigherPriorityTaskWoken );
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}
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/* Exercise the queue sets from an ISR. */
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vQueueSetAccessQueueSetFromISR();
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}
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/*-----------------------------------------------------------*/
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void vOLEDTask( void *pvParameters )
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{
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xOLEDMessage xMessage;
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unsigned long ulY, ulMaxY;
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static char cMessage[ mainMAX_MSG_LEN ];
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extern volatile unsigned long ulMaxJitter;
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unsigned portBASE_TYPE uxUnusedStackOnEntry;
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const unsigned char *pucImage;
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/* Functions to access the OLED. The one used depends on the dev kit
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being used. */
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void ( *vOLEDInit )( unsigned long ) = NULL;
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void ( *vOLEDStringDraw )( const char *, unsigned long, unsigned long, unsigned char ) = NULL;
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void ( *vOLEDImageDraw )( const unsigned char *, unsigned long, unsigned long, unsigned long, unsigned long ) = NULL;
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void ( *vOLEDClear )( void ) = NULL;
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/* Just for demo purposes. */
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uxUnusedStackOnEntry = uxTaskGetStackHighWaterMark( NULL );
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/* Map the OLED access functions to the driver functions that are appropriate
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for the evaluation kit being used. */
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switch( HWREG( SYSCTL_DID1 ) & SYSCTL_DID1_PRTNO_MASK )
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{
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case SYSCTL_DID1_PRTNO_6965 :
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case SYSCTL_DID1_PRTNO_2965 : vOLEDInit = OSRAM128x64x4Init;
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vOLEDStringDraw = OSRAM128x64x4StringDraw;
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vOLEDImageDraw = OSRAM128x64x4ImageDraw;
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vOLEDClear = OSRAM128x64x4Clear;
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ulMaxY = mainMAX_ROWS_64;
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pucImage = pucBasicBitmap;
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break;
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case SYSCTL_DID1_PRTNO_1968 :
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case SYSCTL_DID1_PRTNO_8962 : vOLEDInit = RIT128x96x4Init;
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vOLEDStringDraw = RIT128x96x4StringDraw;
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vOLEDImageDraw = RIT128x96x4ImageDraw;
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vOLEDClear = RIT128x96x4Clear;
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ulMaxY = mainMAX_ROWS_96;
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pucImage = pucBasicBitmap;
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break;
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default : vOLEDInit = vFormike128x128x16Init;
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vOLEDStringDraw = vFormike128x128x16StringDraw;
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vOLEDImageDraw = vFormike128x128x16ImageDraw;
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vOLEDClear = vFormike128x128x16Clear;
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ulMaxY = mainMAX_ROWS_128;
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pucImage = pucGrLibBitmap;
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break;
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}
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ulY = ulMaxY;
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/* Initialise the OLED and display a startup message. */
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vOLEDInit( ulSSI_FREQUENCY );
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vOLEDStringDraw( "POWERED BY FreeRTOS", 0, 0, mainFULL_SCALE );
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vOLEDImageDraw( pucImage, 0, mainCHARACTER_HEIGHT + 1, bmpBITMAP_WIDTH, bmpBITMAP_HEIGHT );
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for( ;; )
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{
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/* Wait for a message to arrive that requires displaying. */
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xQueueReceive( xOLEDQueue, &xMessage, portMAX_DELAY );
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/* Write the message on the next available row. */
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ulY += mainCHARACTER_HEIGHT;
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if( ulY >= ulMaxY )
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{
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ulY = mainCHARACTER_HEIGHT;
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vOLEDClear();
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vOLEDStringDraw( pcWelcomeMessage, 0, 0, mainFULL_SCALE );
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}
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/* Display the message along with the maximum jitter time from the
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high priority time test. */
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sprintf( cMessage, "%s [%uns]", xMessage.pcMessage, ulMaxJitter * mainNS_PER_CLOCK );
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vOLEDStringDraw( cMessage, 0, ulY, mainFULL_SCALE );
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}
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}
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/*-----------------------------------------------------------*/
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void vApplicationStackOverflowHook( TaskHandle_t pxTask, char *pcTaskName )
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{
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for( ;; );
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}
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/*-----------------------------------------------------------*/
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void vApplicationMallocFailedHook( void )
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{
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for( ;; );
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}
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/*-----------------------------------------------------------*/
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/* Just to keep the linker happy. */
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void __error__( char *pcFilename, unsigned long ulLine )
|
|
{
|
|
for( ;; );
|
|
}
|
|
|
|
int uipprintf( const char *fmt, ... )
|
|
{
|
|
return( 0 );
|
|
}
|