2 FreeRTOS.org V5.0.2 - Copyright (C) 2003-2008 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 ***************************************************************************
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29 * SAVE TIME AND MONEY! We can port FreeRTOS.org to your own hardware, *
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30 * and even write all or part of your application on your behalf. *
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31 * See http://www.OpenRTOS.com for details of the services we provide to *
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32 * expedite your project. *
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34 ***************************************************************************
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35 ***************************************************************************
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37 Please ensure to read the configuration and relevant port sections of the
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38 online documentation.
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40 http://www.FreeRTOS.org - Documentation, latest information, license and
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43 http://www.SafeRTOS.com - A version that is certified for use in safety
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46 http://www.OpenRTOS.com - Commercial support, development, porting,
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47 licensing and training services.
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51 * Creates all the demo application tasks, then starts the scheduler. The WEB
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52 * documentation provides more details of the demo application tasks.
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54 * In addition to the standard demo tasks there are two tasks defined within
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57 * 1 - The check task
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58 * The 'check' task is responsible for ensuring that all the standard demo
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59 * tasks are executing as expected. It only executes every three seconds, but
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60 * has the highest priority within the system so is guaranteed to get execution
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61 * time. Any errors discovered by the check task are latched until the
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62 * processor is reset. At the end of each cycle the check task sends either
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63 * a pass or fail message to the 'print' task for display on the LCD.
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65 * 2 - The print task
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66 * The print task is the LCD 'gatekeeper'. That is, it is the only task that
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67 * should access the LCD directly so is always guaranteed exclusive (and
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68 * therefore consistent) access. The print task simply blocks on a queue
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69 * to wait for messages from other tasks wishing to display text on the LCD.
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70 * When a message arrives it displays its contents on the LCD then blocks to
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77 /* Kernel includes. */
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78 #include "FreeRTOS.h"
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82 /* Demo application includes. */
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83 #include "partest.h"
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85 #include "integer.h"
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86 #include "blocktim.h"
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88 #include "comtest2.h"
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89 #include "dynamic.h"
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91 /* Demo application task priorities. */
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92 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 4 )
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93 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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94 #define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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95 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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96 #define mainLCD_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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98 /* How often should we check the other tasks? */
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99 #define mainCHECK_TASK_CYCLE_TIME ( 3000 )
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101 /* The maximum offset into the pass and fail strings sent to the LCD. An
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102 offset is used a simple method of using a different column each time a message
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103 is written to the LCD. */
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104 #define mainMAX_WRITE_COLUMN ( 14 )
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106 /* Baud rate used by the comtest tasks. */
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107 #define mainCOM_TEST_BAUD_RATE ( 19200 )
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109 /* The LED used by the comtest tasks. See the comtest.c file for more
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111 #define mainCOM_TEST_LED ( 3 )
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113 /* The number of messages that can be queued for display on the LCD at any one
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115 #define mainLCD_QUEUE_LENGTH ( 2 )
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117 /* The time to wait when sending to mainLCD_QUEUE_LENGTH. */
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118 #define mainNO_DELAY ( 0 )
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120 /*-----------------------------------------------------------*/
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122 /* The type that is posted to the LCD queue. */
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123 typedef struct LCD_MESSAGE
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125 unsigned portCHAR *pucString; /* Points to the string to be displayed. */
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126 unsigned portCHAR ucLine; /* The line of the LCD that should be used. */
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129 /*-----------------------------------------------------------*/
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132 * The task that executes at the highest priority and checks the operation of
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133 * all the other tasks in the system. See the description at the top of the
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136 static void vCheckTask( void *pvParameters );
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139 * ST provided routine to configure the processor.
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141 static void prvSetupHardware(void);
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144 * The only task that should access the LCD. Other tasks wanting to write
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145 * to the LCD should send a message of type LCDMessage containing the
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146 * information to display to the print task. The print task simply blocks
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147 * waiting for the arrival of such messages, displays the message, then blocks
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150 static void vPrintTask( void *pvParameters );
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152 /*-----------------------------------------------------------*/
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154 /* The queue used to communicate with the LCD print task. */
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155 static xQueueHandle xLCDQueue;
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157 /*-----------------------------------------------------------*/
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159 /* Create all the demo application tasks, then start the scheduler. */
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162 /* Perform any hardware setup necessary. */
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163 prvSetupHardware();
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164 vParTestInitialise();
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166 /* Create the queue used to communicate with the LCD print task. */
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167 xLCDQueue = xQueueCreate( mainLCD_QUEUE_LENGTH, sizeof( LCDMessage ) );
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169 /* Create the standard demo application tasks. See the WEB documentation
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170 for more information on these tasks. */
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171 vCreateBlockTimeTasks();
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172 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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173 vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
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174 vStartDynamicPriorityTasks();
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175 vStartLEDFlashTasks( mainLED_TASK_PRIORITY );
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176 vStartIntegerMathTasks( tskIDLE_PRIORITY );
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178 /* Create the tasks defined within this file. */
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179 xTaskCreate( vPrintTask, ( signed portCHAR * ) "LCD", configMINIMAL_STACK_SIZE, NULL, mainLCD_TASK_PRIORITY, NULL );
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180 xTaskCreate( vCheckTask, ( signed portCHAR * ) "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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182 vTaskStartScheduler();
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184 /* Execution will only reach here if there was insufficient heap to
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185 start the scheduler. */
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187 /*-----------------------------------------------------------*/
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189 static void vCheckTask( void *pvParameters )
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191 static unsigned portLONG ulErrorDetected = pdFALSE;
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192 portTickType xLastExecutionTime;
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193 unsigned portCHAR *cErrorMessage = " FAIL";
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194 unsigned portCHAR *cSuccessMessage = " PASS";
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195 unsigned portBASE_TYPE uxColumn = mainMAX_WRITE_COLUMN;
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196 LCDMessage xMessage;
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198 /* Initialise xLastExecutionTime so the first call to vTaskDelayUntil()
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199 works correctly. */
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200 xLastExecutionTime = xTaskGetTickCount();
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204 /* Wait until it is time for the next cycle. */
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205 vTaskDelayUntil( &xLastExecutionTime, mainCHECK_TASK_CYCLE_TIME );
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207 /* Has an error been found in any of the standard demo tasks? */
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209 if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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211 ulErrorDetected = pdTRUE;
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214 if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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216 ulErrorDetected = pdTRUE;
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219 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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221 ulErrorDetected = pdTRUE;
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224 if( xAreComTestTasksStillRunning() != pdTRUE )
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226 ulErrorDetected = pdTRUE;
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229 if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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231 ulErrorDetected = pdTRUE;
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234 /* Calculate the LCD line on which we would like the message to
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235 be displayed. The column variable is used for convenience as
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236 it is incremented each cycle anyway. */
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237 xMessage.ucLine = ( unsigned portCHAR ) ( uxColumn & 0x01 );
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239 /* The message displayed depends on whether an error was found or
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240 not. Any discovered error is latched. Here the column variable
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241 is used as an index into the text string as a simple way of moving
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242 the text from column to column. */
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243 if( ulErrorDetected == pdFALSE )
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245 xMessage.pucString = cSuccessMessage + uxColumn;
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249 xMessage.pucString = cErrorMessage + uxColumn;
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252 /* Send the message to the print task for display. */
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253 xQueueSend( xLCDQueue, ( void * ) &xMessage, mainNO_DELAY );
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255 /* Make sure the message is printed in a different column the next
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258 if( uxColumn == 0 )
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260 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, "www.FreeRTOS.org", BlackText);
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328 LCD_DisplayString(Line2, " STR750 Demo ", BlackText);
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330 EIC_IRQCmd(ENABLE);
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332 /*-----------------------------------------------------------*/
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