[修改] 增加freeRTOS
1. 版本FreeRTOSv202212.01，命名为kernel；
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kernel/FreeRTOS/Demo/PIC32MX_MPLAB/lcd.c
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kernel/FreeRTOS/Demo/PIC32MX_MPLAB/lcd.c
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/*
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* FreeRTOS V202212.01
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* Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy of
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* this software and associated documentation files (the "Software"), to deal in
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* the Software without restriction, including without limitation the rights to
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* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
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* the Software, and to permit persons to whom the Software is furnished to do so,
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* subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in all
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* copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
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* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
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* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
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* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
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* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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*
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* https://www.FreeRTOS.org
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* https://github.com/FreeRTOS
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*
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*/
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/* peripheral library include */
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#include <plib.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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/* Demo includes. */
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#include "lcd.h"
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/*
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* The LCD is written to by more than one task so is controlled by this
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* 'gatekeeper' task. This is the only task that is actually permitted to
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* access the LCD 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 vLCDTask( void *pvParameters );
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/*
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* Setup the peripherals required to communicate with the LCD.
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*/
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static void prvSetupLCD( void );
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/*
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* Move to the first (0) or second (1) row of the LCD.
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*/
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static void prvLCDGotoRow( unsigned short usRow );
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/*
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* Write a string of text to the LCD.
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*/
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static void prvLCDPutString( char *pcString );
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/*
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* Clear the LCD.
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*/
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static void prvLCDClear( void );
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/*-----------------------------------------------------------*/
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/* Brief delay to permit the LCD to catch up with commands. */
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#define lcdVERY_SHORT_DELAY ( 1 )
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#define lcdSHORT_DELAY ( 8 / portTICK_PERIOD_MS )
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#define lcdLONG_DELAY ( 15 / portTICK_PERIOD_MS )
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/* LCD specific definitions. */
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#define LCD_CLEAR_DISPLAY_CMD 0x01
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#define LCD_CURSOR_HOME_CMD 0x02
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#define LCD_ENTRY_MODE_CMD 0x04
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#define LCD_ENTRY_MODE_INCREASE 0x02
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#define LCD_DISPLAY_CTRL_CMD 0x08
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#define LCD_DISPLAY_CTRL_DISPLAY_ON 0x04
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#define LCD_FUNCTION_SET_CMD 0x20
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#define LCD_FUNCTION_SET_8_BITS 0x10
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#define LCD_FUNCTION_SET_2_LINES 0x08
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#define LCD_FUNCTION_SET_LRG_FONT 0x04
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#define LCD_NEW_LINE 0xC0
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#define LCD_COMMAND_ADDRESS 0x00
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#define LCD_DATA_ADDRESS 0x01
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/* The length of the queue used to send messages to the LCD gatekeeper task. */
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#define lcdQUEUE_SIZE 3
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/*-----------------------------------------------------------*/
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/* The queue used to send messages to the LCD task. */
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QueueHandle_t xLCDQueue;
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/* LCD access functions. */
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static void prvLCDCommand( char cCommand );
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static void prvLCDData( char cChar );
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/*-----------------------------------------------------------*/
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QueueHandle_t xStartLCDTask( void )
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{
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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( lcdQUEUE_SIZE, sizeof( xLCDMessage ));
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/* Start the task that will write to the LCD. The LCD hardware is
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initialised from within the task itself so delays can be used. */
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xTaskCreate( vLCDTask, "LCD", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY + 1, NULL );
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return xLCDQueue;
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}
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/*-----------------------------------------------------------*/
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static void prvLCDGotoRow( unsigned short usRow )
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{
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if(usRow == 0)
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{
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prvLCDCommand( LCD_CURSOR_HOME_CMD );
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}
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else
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{
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prvLCDCommand( LCD_NEW_LINE );
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}
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}
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/*-----------------------------------------------------------*/
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static void prvLCDCommand( char cCommand )
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{
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PMPSetAddress( LCD_COMMAND_ADDRESS );
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PMPMasterWrite( cCommand );
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vTaskDelay( lcdSHORT_DELAY );
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}
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/*-----------------------------------------------------------*/
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static void prvLCDData( char cChar )
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{
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PMPSetAddress( LCD_DATA_ADDRESS );
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PMPMasterWrite( cChar );
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vTaskDelay( lcdVERY_SHORT_DELAY );
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}
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/*-----------------------------------------------------------*/
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static void prvLCDPutString( char *pcString )
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{
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/* Write out each character with appropriate delay between each. */
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while(*pcString)
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{
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prvLCDData(*pcString);
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pcString++;
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vTaskDelay(lcdSHORT_DELAY);
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}
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}
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/*-----------------------------------------------------------*/
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static void prvLCDClear(void)
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{
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prvLCDCommand(LCD_CLEAR_DISPLAY_CMD);
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}
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/*-----------------------------------------------------------*/
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static void prvSetupLCD(void)
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{
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/* Wait for proper power up. */
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vTaskDelay( lcdLONG_DELAY );
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/* Open the PMP port */
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mPMPOpen((PMP_ON | PMP_READ_WRITE_EN | PMP_CS2_CS1_EN |
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PMP_LATCH_POL_HI | PMP_CS2_POL_HI | PMP_CS1_POL_HI |
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PMP_WRITE_POL_HI | PMP_READ_POL_HI),
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(PMP_MODE_MASTER1 | PMP_WAIT_BEG_4 | PMP_WAIT_MID_15 |
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PMP_WAIT_END_4),
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PMP_PEN_0, 0);
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/* Wait for the LCD to power up correctly. */
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vTaskDelay( lcdLONG_DELAY );
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vTaskDelay( lcdLONG_DELAY );
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vTaskDelay( lcdLONG_DELAY );
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/* Set up the LCD function. */
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prvLCDCommand( LCD_FUNCTION_SET_CMD | LCD_FUNCTION_SET_8_BITS | LCD_FUNCTION_SET_2_LINES | LCD_FUNCTION_SET_LRG_FONT );
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/* Turn the display on. */
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prvLCDCommand( LCD_DISPLAY_CTRL_CMD | LCD_DISPLAY_CTRL_DISPLAY_ON );
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/* Clear the display. */
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prvLCDCommand( LCD_CLEAR_DISPLAY_CMD );
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vTaskDelay( lcdLONG_DELAY );
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/* Increase the cursor. */
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prvLCDCommand( LCD_ENTRY_MODE_CMD | LCD_ENTRY_MODE_INCREASE );
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vTaskDelay( lcdLONG_DELAY );
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vTaskDelay( lcdLONG_DELAY );
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vTaskDelay( lcdLONG_DELAY );
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}
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/*-----------------------------------------------------------*/
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static void vLCDTask(void *pvParameters)
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{
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xLCDMessage xMessage;
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unsigned short usRow = 0;
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/* Initialise the hardware. This uses delays so must not be called prior
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to the scheduler being started. */
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prvSetupLCD();
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/* Welcome message. */
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prvLCDPutString( "www.FreeRTOS.org" );
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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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while( xQueueReceive( xLCDQueue, &xMessage, portMAX_DELAY ) != pdPASS );
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/* Clear the current display value. */
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prvLCDClear();
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/* Switch rows each time so we can see that the display is still being
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updated. */
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prvLCDGotoRow( usRow & 0x01 );
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usRow++;
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prvLCDPutString( xMessage.pcMessage );
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/* Delay the requested amount of time to ensure the text just written
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to the LCD is not overwritten. */
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vTaskDelay( xMessage.xMinDisplayTime );
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}
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}
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