2 FreeRTOS.org V4.7.0 - Copyright (C) 2003-2007 Richard Barry.
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4 This file is part of the FreeRTOS.org distribution.
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6 FreeRTOS.org is free software; you can redistribute it and/or modify
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7 it under the terms of the GNU General Public License as published by
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8 the Free Software Foundation; either version 2 of the License, or
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9 (at your option) any later version.
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11 FreeRTOS.org is distributed in the hope that it will be useful,
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12 but WITHOUT ANY WARRANTY; without even the implied warranty of
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13 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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14 GNU General Public License for more details.
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16 You should have received a copy of the GNU General Public License
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17 along with FreeRTOS.org; if not, write to the Free Software
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18 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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20 A special exception to the GPL can be applied should you wish to distribute
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21 a combined work that includes FreeRTOS.org, without being obliged to provide
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22 the source code for any proprietary components. See the licensing section
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23 of http://www.FreeRTOS.org for full details of how and when the exception
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26 ***************************************************************************
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27 See http://www.FreeRTOS.org for documentation, latest information, license
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28 and contact details. Please ensure to read the configuration and relevant
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29 port sections of the online documentation.
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31 Also see http://www.SafeRTOS.com a version that has been certified for use
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32 in safety critical systems, plus commercial licensing, development and
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34 ***************************************************************************
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38 * Creates all the demo application tasks, then starts the scheduler. The WEB
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39 * documentation provides more details of the demo application tasks.
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41 * In addition to the standard demo tasks there are two tasks defined within
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44 * 1 - The check task
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45 * The 'check' task is responsible for ensuring that all the standard demo
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46 * tasks are executing as expected. It only executes every three seconds, but
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47 * has the highest priority within the system so is guaranteed to get execution
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48 * time. Any errors discovered by the check task are latched until the
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49 * processor is reset. At the end of each cycle the check task sends either
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50 * a pass or fail message to the 'print' task for display on the LCD.
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52 * 2 - The print task
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53 * The print task is the LCD 'gatekeeper'. That is, it is the only task that
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54 * should access the LCD directly so is always guaranteed exclusive (and
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55 * therefore consistent) access. The print task simply blocks on a queue
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56 * to wait for messages from other tasks wishing to display text on the LCD.
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57 * When a message arrives it displays its contents on the LCD then blocks to
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64 /* Kernel includes. */
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65 #include "FreeRTOS.h"
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69 /* Demo application includes. */
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70 #include "ParTest.h"
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72 #include "integer.h"
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73 #include "blocktim.h"
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75 #include "comtest2.h"
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76 #include "dynamic.h"
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78 /* Demo application task priorities. */
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79 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 4 )
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80 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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81 #define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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82 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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83 #define mainLCD_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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85 /* How often should we check the other tasks? */
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86 #define mainCHECK_TASK_CYCLE_TIME ( 3000 )
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88 /* The maximum offset into the pass and fail strings sent to the LCD. An
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89 offset is used a simple method of using a different column each time a message
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90 is written to the LCD. */
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91 #define mainMAX_WRITE_COLUMN ( 14 )
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93 /* Baud rate used by the comtest tasks. */
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94 #define mainCOM_TEST_BAUD_RATE ( 19200 )
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96 /* The LED used by the comtest tasks. See the comtest.c file for more
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98 #define mainCOM_TEST_LED ( 3 )
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100 /* The number of messages that can be queued for display on the LCD at any one
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102 #define mainLCD_QUEUE_LENGTH ( 2 )
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104 /* The time to wait when sending to mainLCD_QUEUE_LENGTH. */
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105 #define mainNO_DELAY ( 0 )
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107 /*-----------------------------------------------------------*/
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109 /* The type that is posted to the LCD queue. */
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110 typedef struct LCD_MESSAGE
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112 unsigned portCHAR *pucString; /* Points to the string to be displayed. */
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113 unsigned portCHAR ucLine; /* The line of the LCD that should be used. */
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116 /*-----------------------------------------------------------*/
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119 * The task that executes at the highest priority and checks the operation of
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120 * all the other tasks in the system. See the description at the top of the
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123 static void vCheckTask( void *pvParameters );
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126 * ST provided routine to configure the processor.
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128 static void prvSetupHardware(void);
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131 * The only task that should access the LCD. Other tasks wanting to write
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132 * to the LCD should send a message of type LCDMessage containing the
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133 * information to display to the print task. The print task simply blocks
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134 * waiting for the arrival of such messages, displays the message, then blocks
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137 static void vPrintTask( void *pvParameters );
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139 /*-----------------------------------------------------------*/
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141 /* The queue used to communicate with the LCD print task. */
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142 static xQueueHandle xLCDQueue;
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144 /*-----------------------------------------------------------*/
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146 /* Create all the demo application tasks, then start the scheduler. */
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149 /* Perform any hardware setup necessary. */
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150 prvSetupHardware();
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151 vParTestInitialise();
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153 /* Create the queue used to communicate with the LCD print task. */
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154 xLCDQueue = xQueueCreate( mainLCD_QUEUE_LENGTH, sizeof( LCDMessage ) );
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156 /* Create the standard demo application tasks. See the WEB documentation
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157 for more information on these tasks. */
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158 vCreateBlockTimeTasks();
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159 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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160 vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
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161 vStartDynamicPriorityTasks();
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162 vStartLEDFlashTasks( mainLED_TASK_PRIORITY );
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163 vStartIntegerMathTasks( tskIDLE_PRIORITY );
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165 /* Create the tasks defined within this file. */
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166 xTaskCreate( vPrintTask, ( signed portCHAR * ) "LCD", configMINIMAL_STACK_SIZE, NULL, mainLCD_TASK_PRIORITY, NULL );
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167 xTaskCreate( vCheckTask, ( signed portCHAR * ) "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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169 vTaskStartScheduler();
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171 /* Execution will only reach here if there was insufficient heap to
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172 start the scheduler. */
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174 /*-----------------------------------------------------------*/
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176 static void vCheckTask( void *pvParameters )
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178 static unsigned portLONG ulErrorDetected = pdFALSE;
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179 portTickType xLastExecutionTime;
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180 unsigned portCHAR *cErrorMessage = " FAIL";
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181 unsigned portCHAR *cSuccessMessage = " PASS";
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182 unsigned portBASE_TYPE uxColumn = mainMAX_WRITE_COLUMN;
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183 LCDMessage xMessage;
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185 /* Initialise xLastExecutionTime so the first call to vTaskDelayUntil()
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186 works correctly. */
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187 xLastExecutionTime = xTaskGetTickCount();
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191 /* Wait until it is time for the next cycle. */
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192 vTaskDelayUntil( &xLastExecutionTime, mainCHECK_TASK_CYCLE_TIME );
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194 /* Has an error been found in any of the standard demo tasks? */
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196 if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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198 ulErrorDetected = pdTRUE;
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201 if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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203 ulErrorDetected = pdTRUE;
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206 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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208 ulErrorDetected = pdTRUE;
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211 if( xAreComTestTasksStillRunning() != pdTRUE )
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213 ulErrorDetected = pdTRUE;
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216 if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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218 ulErrorDetected = pdTRUE;
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221 /* Calculate the LCD line on which we would like the message to
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222 be displayed. The column variable is used for convenience as
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223 it is incremented each cycle anyway. */
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224 xMessage.ucLine = ( unsigned portCHAR ) ( uxColumn & 0x01 );
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226 /* The message displayed depends on whether an error was found or
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227 not. Any discovered error is latched. Here the column variable
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228 is used as an index into the text string as a simple way of moving
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229 the text from column to column. */
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230 if( ulErrorDetected == pdFALSE )
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232 xMessage.pucString = cSuccessMessage + uxColumn;
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236 xMessage.pucString = cErrorMessage + uxColumn;
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239 /* Send the message to the print task for display. */
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240 xQueueSend( xLCDQueue, ( void * ) &xMessage, mainNO_DELAY );
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242 /* Make sure the message is printed in a different column the next
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245 if( uxColumn == 0 )
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247 uxColumn = mainMAX_WRITE_COLUMN;
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251 /*-----------------------------------------------------------*/
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253 static void vPrintTask( void *pvParameters )
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255 LCDMessage xMessage;
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259 /* Wait until a message arrives. */
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260 while( xQueueReceive( xLCDQueue, ( void * ) &xMessage, portMAX_DELAY ) != pdPASS );
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262 /* The message contains the text to display, and the line on which the
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263 text should be displayed. */
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265 LCD_DisplayString( xMessage.ucLine, xMessage.pucString, BlackText );
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268 /*-----------------------------------------------------------*/
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270 static void prvSetupHardware(void)
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272 ErrorStatus OSC4MStartUpStatus01;
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274 /* ST provided routine. */
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276 /* MRCC system reset */
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279 /* Wait for OSC4M start-up */
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280 OSC4MStartUpStatus01 = MRCC_WaitForOSC4MStartUp();
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282 if(OSC4MStartUpStatus01 == SUCCESS)
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284 /* Set HCLK to 60MHz */
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285 MRCC_HCLKConfig(MRCC_CKSYS_Div1);
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287 /* Set CKTIM to 60MHz */
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288 MRCC_CKTIMConfig(MRCC_HCLK_Div1);
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290 /* Set PCLK to 30MHz */
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291 MRCC_PCLKConfig(MRCC_CKTIM_Div2);
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293 /* Enable Flash Burst mode */
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294 CFG_FLASHBurstConfig(CFG_FLASHBurst_Enable);
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296 /* Set CK_SYS to 60 MHz */
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297 MRCC_CKSYSConfig(MRCC_CKSYS_OSC4MPLL, MRCC_PLL_Mul_15);
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300 /* GPIO pins optimized for 3V3 operation */
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301 MRCC_IOVoltageRangeConfig(MRCC_IOVoltageRange_3V3);
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303 /* GPIO clock source enable */
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304 MRCC_PeripheralClockConfig(MRCC_Peripheral_GPIO, ENABLE);
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306 /* EXTIT clock source enable */
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307 MRCC_PeripheralClockConfig(MRCC_Peripheral_EXTIT, ENABLE);
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308 /* TB clock source enable */
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309 MRCC_PeripheralClockConfig(MRCC_Peripheral_TB, ENABLE);
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311 /* Initialize the demonstration menu */
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314 LCD_DisplayString(Line1, "www.FreeRTOS.org", BlackText);
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315 LCD_DisplayString(Line2, " STR750 Demo ", BlackText);
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317 EIC_IRQCmd(ENABLE);
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319 /*-----------------------------------------------------------*/
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