2 FreeRTOS V5.4.2 - Copyright (C) 2009 Real Time Engineers Ltd.
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4 This file is part of the FreeRTOS distribution.
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6 FreeRTOS is free software; you can redistribute it and/or modify it under
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7 the terms of the GNU General Public License (version 2) as published by the
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8 Free Software Foundation and modified by the FreeRTOS exception.
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9 **NOTE** The exception to the GPL is included to allow you to distribute a
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10 combined work that includes FreeRTOS without being obliged to provide the
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11 source code for proprietary components outside of the FreeRTOS kernel.
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12 Alternative commercial license and support terms are also available upon
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13 request. See the licensing section of http://www.FreeRTOS.org for full
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16 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT
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17 ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
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18 FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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21 You should have received a copy of the GNU General Public License along
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22 with FreeRTOS; if not, write to the Free Software Foundation, Inc., 59
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23 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
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26 ***************************************************************************
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28 * Looking for a quick start? Then check out the FreeRTOS eBook! *
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29 * See http://www.FreeRTOS.org/Documentation for details *
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31 ***************************************************************************
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35 Please ensure to read the configuration and relevant port sections of the
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36 online documentation.
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38 http://www.FreeRTOS.org - Documentation, latest information, license and
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41 http://www.SafeRTOS.com - A version that is certified for use in safety
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44 http://www.OpenRTOS.com - Commercial support, development, porting,
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45 licensing and training services.
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49 * Creates all the demo application tasks, then starts the scheduler. The WEB
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50 * documentation provides more details of the demo application tasks.
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52 * In addition to the standard demo tasks there are two tasks defined within
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55 * 1 - The check task
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56 * The 'check' task is responsible for ensuring that all the standard demo
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57 * tasks are executing as expected. It only executes every three seconds, but
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58 * has the highest priority within the system so is guaranteed to get execution
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59 * time. Any errors discovered by the check task are latched until the
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60 * processor is reset. At the end of each cycle the check task sends either
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61 * a pass or fail message to the 'print' task for display on the LCD.
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63 * 2 - The print task
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64 * The print task is the LCD 'gatekeeper'. That is, it is the only task that
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65 * should access the LCD directly so is always guaranteed exclusive (and
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66 * therefore consistent) access. The print task simply blocks on a queue
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67 * to wait for messages from other tasks wishing to display text on the LCD.
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68 * When a message arrives it displays its contents on the LCD then blocks to
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75 /* Kernel includes. */
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76 #include "FreeRTOS.h"
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80 /* Demo application includes. */
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81 #include "partest.h"
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83 #include "integer.h"
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84 #include "blocktim.h"
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86 #include "comtest2.h"
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87 #include "dynamic.h"
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89 /* Demo application task priorities. */
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90 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 4 )
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91 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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92 #define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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93 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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94 #define mainLCD_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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96 /* How often should we check the other tasks? */
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97 #define mainCHECK_TASK_CYCLE_TIME ( 3000 )
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99 /* The maximum offset into the pass and fail strings sent to the LCD. An
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100 offset is used a simple method of using a different column each time a message
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101 is written to the LCD. */
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102 #define mainMAX_WRITE_COLUMN ( 14 )
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104 /* Baud rate used by the comtest tasks. */
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105 #define mainCOM_TEST_BAUD_RATE ( 19200 )
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107 /* The LED used by the comtest tasks. See the comtest.c file for more
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109 #define mainCOM_TEST_LED ( 3 )
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111 /* The number of messages that can be queued for display on the LCD at any one
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113 #define mainLCD_QUEUE_LENGTH ( 2 )
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115 /* The time to wait when sending to mainLCD_QUEUE_LENGTH. */
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116 #define mainNO_DELAY ( 0 )
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118 /*-----------------------------------------------------------*/
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120 /* The type that is posted to the LCD queue. */
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121 typedef struct LCD_MESSAGE
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123 unsigned portCHAR *pucString; /* Points to the string to be displayed. */
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124 unsigned portCHAR ucLine; /* The line of the LCD that should be used. */
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127 /*-----------------------------------------------------------*/
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130 * The task that executes at the highest priority and checks the operation of
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131 * all the other tasks in the system. See the description at the top of the
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134 static void vCheckTask( void *pvParameters );
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137 * ST provided routine to configure the processor.
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139 static void prvSetupHardware(void);
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142 * The only task that should access the LCD. Other tasks wanting to write
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143 * to the LCD should send a message of type LCDMessage containing the
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144 * information to display to the print task. The print task simply blocks
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145 * waiting for the arrival of such messages, displays the message, then blocks
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148 static void vPrintTask( void *pvParameters );
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150 /*-----------------------------------------------------------*/
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152 /* The queue used to communicate with the LCD print task. */
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153 static xQueueHandle xLCDQueue;
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155 /*-----------------------------------------------------------*/
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157 /* Create all the demo application tasks, then start the scheduler. */
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160 /* Perform any hardware setup necessary. */
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161 prvSetupHardware();
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162 vParTestInitialise();
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164 /* Create the queue used to communicate with the LCD print task. */
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165 xLCDQueue = xQueueCreate( mainLCD_QUEUE_LENGTH, sizeof( LCDMessage ) );
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167 /* Create the standard demo application tasks. See the WEB documentation
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168 for more information on these tasks. */
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169 vCreateBlockTimeTasks();
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170 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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171 vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
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172 vStartDynamicPriorityTasks();
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173 vStartLEDFlashTasks( mainLED_TASK_PRIORITY );
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174 vStartIntegerMathTasks( tskIDLE_PRIORITY );
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176 /* Create the tasks defined within this file. */
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177 xTaskCreate( vPrintTask, ( signed portCHAR * ) "LCD", configMINIMAL_STACK_SIZE, NULL, mainLCD_TASK_PRIORITY, NULL );
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178 xTaskCreate( vCheckTask, ( signed portCHAR * ) "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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180 vTaskStartScheduler();
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182 /* Execution will only reach here if there was insufficient heap to
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183 start the scheduler. */
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186 /*-----------------------------------------------------------*/
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188 static void vCheckTask( void *pvParameters )
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190 static unsigned portLONG ulErrorDetected = pdFALSE;
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191 portTickType xLastExecutionTime;
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192 unsigned portCHAR *ucErrorMessage = ( unsigned portCHAR * )" FAIL";
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193 unsigned portCHAR *ucSuccessMessage = ( unsigned portCHAR * )" PASS";
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194 unsigned portBASE_TYPE uxColumn = mainMAX_WRITE_COLUMN;
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195 LCDMessage xMessage;
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197 /* Initialise xLastExecutionTime so the first call to vTaskDelayUntil()
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198 works correctly. */
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199 xLastExecutionTime = xTaskGetTickCount();
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203 /* Wait until it is time for the next cycle. */
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204 vTaskDelayUntil( &xLastExecutionTime, mainCHECK_TASK_CYCLE_TIME );
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206 /* Has an error been found in any of the standard demo tasks? */
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208 if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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210 ulErrorDetected = pdTRUE;
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213 if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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215 ulErrorDetected = pdTRUE;
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218 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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220 ulErrorDetected = pdTRUE;
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223 if( xAreComTestTasksStillRunning() != pdTRUE )
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225 ulErrorDetected = pdTRUE;
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228 if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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230 ulErrorDetected = pdTRUE;
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233 /* Calculate the LCD line on which we would like the message to
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234 be displayed. The column variable is used for convenience as
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235 it is incremented each cycle anyway. */
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236 xMessage.ucLine = ( unsigned portCHAR ) ( uxColumn & 0x01 );
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238 /* The message displayed depends on whether an error was found or
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239 not. Any discovered error is latched. Here the column variable
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240 is used as an index into the text string as a simple way of moving
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241 the text from column to column. */
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242 if( ulErrorDetected == pdFALSE )
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244 xMessage.pucString = ucSuccessMessage + uxColumn;
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248 xMessage.pucString = ucErrorMessage + uxColumn;
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251 /* Send the message to the print task for display. */
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252 xQueueSend( xLCDQueue, ( void * ) &xMessage, mainNO_DELAY );
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254 /* Make sure the message is printed in a different column the next
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257 if( uxColumn == 0 )
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259 uxColumn = mainMAX_WRITE_COLUMN;
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264 /*-----------------------------------------------------------*/
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266 static void vPrintTask( void *pvParameters )
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268 LCDMessage xMessage;
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272 /* Wait until a message arrives. */
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273 while( xQueueReceive( xLCDQueue, ( void * ) &xMessage, portMAX_DELAY ) != pdPASS );
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275 /* The message contains the text to display, and the line on which the
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276 text should be displayed. */
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278 LCD_DisplayString( xMessage.ucLine, xMessage.pucString, BlackText );
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281 /*-----------------------------------------------------------*/
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283 static void prvSetupHardware(void)
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285 ErrorStatus OSC4MStartUpStatus01;
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287 /* ST provided routine. */
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289 /* MRCC system reset */
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292 /* Wait for OSC4M start-up */
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293 OSC4MStartUpStatus01 = MRCC_WaitForOSC4MStartUp();
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295 if(OSC4MStartUpStatus01 == SUCCESS)
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297 /* Set HCLK to 60MHz */
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298 MRCC_HCLKConfig(MRCC_CKSYS_Div1);
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300 /* Set CKTIM to 60MHz */
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301 MRCC_CKTIMConfig(MRCC_HCLK_Div1);
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303 /* Set PCLK to 30MHz */
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304 MRCC_PCLKConfig(MRCC_CKTIM_Div2);
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306 /* Enable Flash Burst mode */
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307 CFG_FLASHBurstConfig(CFG_FLASHBurst_Enable);
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309 /* Set CK_SYS to 60 MHz */
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310 MRCC_CKSYSConfig(MRCC_CKSYS_OSC4MPLL, MRCC_PLL_Mul_15);
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313 /* GPIO pins optimized for 3V3 operation */
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314 MRCC_IOVoltageRangeConfig(MRCC_IOVoltageRange_3V3);
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316 /* GPIO clock source enable */
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317 MRCC_PeripheralClockConfig(MRCC_Peripheral_GPIO, ENABLE);
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319 /* EXTIT clock source enable */
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320 MRCC_PeripheralClockConfig(MRCC_Peripheral_EXTIT, ENABLE);
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321 /* TB clock source enable */
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322 MRCC_PeripheralClockConfig(MRCC_Peripheral_TB, ENABLE);
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324 /* Initialize the demonstration menu */
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327 LCD_DisplayString(Line1, ( unsigned portCHAR * ) "www.FreeRTOS.org", BlackText);
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328 LCD_DisplayString(Line2, ( unsigned portCHAR * ) " STR750 Demo ", BlackText);
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330 EIC_IRQCmd(ENABLE);
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332 /*-----------------------------------------------------------*/
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