2 FreeRTOS V5.4.0 - Copyright (C) 2003-2009 Richard Barry.
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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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50 * Creates all the demo application tasks, then starts the scheduler. The WEB
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51 * documentation provides more details of the standard demo application tasks
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52 * (which just exist to test the kernel port and provide an example of how to use
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53 * each FreeRTOS API function).
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55 * In addition to the standard demo tasks, the following tasks and tests are
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56 * defined and/or created within this file:
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58 * "Check" hook - This only executes fully every five seconds from the tick
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59 * hook. Its main function is to check that all the standard demo tasks are
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60 * still operational. The status can be viewed using on the Task Stats page
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61 * served by the WEB server.
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63 * "uIP" task - This is the task that handles the uIP stack. All TCP/IP
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64 * processing is performed in this task.
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67 /* Scheduler includes. */
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68 #include "FreeRTOS.h"
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71 /* Demo app includes. */
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73 #include "integer.h"
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74 #include "blocktim.h"
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76 #include "partest.h"
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77 #include "semtest.h"
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79 #include "GenQTest.h"
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81 #include "recmutex.h"
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83 /*-----------------------------------------------------------*/
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85 /* The time between cycles of the 'check' functionality (defined within the
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87 #define mainCHECK_DELAY ( ( portTickType ) 5000 / portTICK_RATE_MS )
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89 /* Task priorities. */
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90 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
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91 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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92 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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93 #define mainUIP_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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94 #define mainINTEGER_TASK_PRIORITY ( tskIDLE_PRIORITY )
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95 #define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )
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96 #define mainFLASH_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
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98 /* The WEB server has a larger stack as it utilises stack hungry string
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99 handling library calls. */
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100 #define mainBASIC_WEB_STACK_SIZE ( configMINIMAL_STACK_SIZE * 4 )
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102 /* The message displayed by the WEB server when all tasks are executing
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103 without an error being reported. */
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104 #define mainPASS_STATUS_MESSAGE "All tasks are executing without error."
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106 /*-----------------------------------------------------------*/
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109 * Configure the hardware for the demo.
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111 static void prvSetupHardware( void );
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114 * The task that handles the uIP stack. All TCP/IP processing is performed in
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117 extern void vuIP_Task( void *pvParameters );
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120 * Simply returns the current status message for display on served WEB pages.
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122 char *pcGetTaskStatusMessage( void );
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124 /*-----------------------------------------------------------*/
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126 /* Holds the status message displayed by the WEB server. */
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127 static char *pcStatusMessage = mainPASS_STATUS_MESSAGE;
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129 /*-----------------------------------------------------------*/
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133 /* Configure the hardware for use by this demo. */
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134 prvSetupHardware();
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136 /* Start the standard demo tasks. These are just here to exercise the
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137 kernel port and provide examples of how the FreeRTOS API can be used. */
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138 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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139 vCreateBlockTimeTasks();
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140 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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141 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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142 vStartIntegerMathTasks( mainINTEGER_TASK_PRIORITY );
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143 vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
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144 vStartQueuePeekTasks();
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145 vStartRecursiveMutexTasks();
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146 vStartLEDFlashTasks( mainFLASH_TASK_PRIORITY );
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148 /* Create the uIP task. The WEB server runs in this task. */
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149 xTaskCreate( vuIP_Task, ( signed char * ) "uIP", mainBASIC_WEB_STACK_SIZE, ( void * ) NULL, mainUIP_TASK_PRIORITY, NULL );
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151 /* Start the scheduler. */
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152 vTaskStartScheduler();
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154 /* Will only get here if there was insufficient memory to create the idle
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155 task. The idle task is created within vTaskStartScheduler(). */
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158 /*-----------------------------------------------------------*/
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160 void vApplicationTickHook( void )
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162 static unsigned portLONG ulTicksSinceLastDisplay = 0;
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164 /* Called from every tick interrupt as described in the comments at the top
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167 Have enough ticks passed to make it time to perform our health status
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169 ulTicksSinceLastDisplay++;
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170 if( ulTicksSinceLastDisplay >= mainCHECK_DELAY )
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172 /* Reset the counter so these checks run again in mainCHECK_DELAY
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174 ulTicksSinceLastDisplay = 0;
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176 /* Has an error been found in any task? */
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177 if( xAreGenericQueueTasksStillRunning() != pdTRUE )
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179 pcStatusMessage = "An error has been detected in the Generic Queue test/demo.";
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181 else if( xAreQueuePeekTasksStillRunning() != pdTRUE )
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183 pcStatusMessage = "An error has been detected in the Peek Queue test/demo.";
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185 else if( xAreBlockingQueuesStillRunning() != pdTRUE )
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187 pcStatusMessage = "An error has been detected in the Block Queue test/demo.";
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189 else if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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191 pcStatusMessage = "An error has been detected in the Block Time test/demo.";
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193 else if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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195 pcStatusMessage = "An error has been detected in the Semaphore test/demo.";
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197 else if( xArePollingQueuesStillRunning() != pdTRUE )
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199 pcStatusMessage = "An error has been detected in the Poll Queue test/demo.";
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201 else if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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203 pcStatusMessage = "An error has been detected in the Int Math test/demo.";
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205 else if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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207 pcStatusMessage = "An error has been detected in the Mutex test/demo.";
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211 /*-----------------------------------------------------------*/
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213 char *pcGetTaskStatusMessage( void )
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215 /* Not bothered about a critical section here. */
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216 return pcStatusMessage;
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218 /*-----------------------------------------------------------*/
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220 void prvSetupHardware( void )
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222 /* Disable peripherals power. */
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225 /* Enable GPIO power. */
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226 SC->PCONP = PCONP_PCGPIO;
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228 /* Disable TPIU. */
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229 PINCON->PINSEL10 = 0;
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231 /* Disconnect the main PLL. */
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232 SC->PLL0CON &= ~PLLCON_PLLC;
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233 SC->PLL0FEED = PLLFEED_FEED1;
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234 SC->PLL0FEED = PLLFEED_FEED2;
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235 while ((SC->PLL0STAT & PLLSTAT_PLLC) != 0);
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237 /* Turn off the main PLL. */
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238 SC->PLL0CON &= ~PLLCON_PLLE;
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239 SC->PLL0FEED = PLLFEED_FEED1;
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240 SC->PLL0FEED = PLLFEED_FEED2;
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241 while ((SC->PLL0STAT & PLLSTAT_PLLE) != 0);
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243 /* No CPU clock divider. */
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248 while ((SC->SCS & 0x40) == 0);
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250 /* Use main oscillator. */
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252 SC->PLL0CFG = (PLLCFG_MUL16 | PLLCFG_DIV1);
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254 SC->PLL0FEED = PLLFEED_FEED1;
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255 SC->PLL0FEED = PLLFEED_FEED2;
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257 /* Activate the PLL by turning it on then feeding the correct
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258 sequence of bytes. */
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259 SC->PLL0CON = PLLCON_PLLE;
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260 SC->PLL0FEED = PLLFEED_FEED1;
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261 SC->PLL0FEED = PLLFEED_FEED2;
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263 /* 6x CPU clock divider (64 MHz) */
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266 /* Wait for the PLL to lock. */
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267 while ((SC->PLL0STAT & PLLSTAT_PLOCK) == 0);
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269 /* Connect the PLL. */
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270 SC->PLL0CON = PLLCON_PLLC | PLLCON_PLLE;
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271 SC->PLL0FEED = PLLFEED_FEED1;
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272 SC->PLL0FEED = PLLFEED_FEED2;
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274 /* Setup the peripheral bus to be the same as the PLL output (64 MHz). */
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275 SC->PCLKSEL0 = 0x05555555;
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277 /* Configure the LEDs. */
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278 vParTestInitialise();
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280 /*-----------------------------------------------------------*/
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282 void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed portCHAR *pcTaskName )
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284 /* This function will get called if a task overflows its stack. */
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287 ( void ) pcTaskName;
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291 /*-----------------------------------------------------------*/
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293 void vConfigureTimerForRunTimeStats( void )
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295 const unsigned long TCR_COUNT_RESET = 2, CTCR_CTM_TIMER = 0x00, TCR_COUNT_ENABLE = 0x01;
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297 /* This function configures a timer that is used as the time base when
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298 collecting run time statistical information - basically the percentage
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299 of CPU time that each task is utilising. It is called automatically when
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300 the scheduler is started (assuming configGENERATE_RUN_TIME_STATS is set
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303 /* Power up and feed the timer. */
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304 SC->PCONP |= 0x02UL;
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305 SC->PCLKSEL0 = (SC->PCLKSEL0 & (~(0x3<<2))) | (0x01 << 2);
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307 /* Reset Timer 0 */
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308 TIM0->TCR = TCR_COUNT_RESET;
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310 /* Just count up. */
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311 TIM0->CTCR = CTCR_CTM_TIMER;
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313 /* Prescale to a frequency that is good enough to get a decent resolution,
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314 but not too fast so as to overflow all the time. */
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315 TIM0->PR = ( configCPU_CLOCK_HZ / 10000UL ) - 1UL;
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317 /* Start the counter. */
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318 TIM0->TCR = TCR_COUNT_ENABLE;
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320 /*-----------------------------------------------------------*/
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