2 FreeRTOS.org V5.4.0 - Copyright (C) 2003-2009 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 it
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7 under the terms of the GNU General Public License (version 2) as published
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8 by the 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.org without being obliged to provide
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11 the source code for any proprietary components. Alternative commercial
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12 license and support terms are also available upon request. See the
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13 licensing section of http://www.FreeRTOS.org for full details.
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15 FreeRTOS.org is distributed in the hope that it will be useful, but WITHOUT
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16 ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
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17 FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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20 You should have received a copy of the GNU General Public License along
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21 with FreeRTOS.org; if not, write to the Free Software Foundation, Inc., 59
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22 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
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25 ***************************************************************************
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27 * Get the FreeRTOS eBook! See http://www.FreeRTOS.org/Documentation *
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29 * This is a concise, step by step, 'hands on' guide that describes both *
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30 * general multitasking concepts and FreeRTOS specifics. It presents and *
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31 * explains numerous examples that are written using the FreeRTOS API. *
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32 * Full source code for all the examples is provided in an accompanying *
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35 ***************************************************************************
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39 Please ensure to read the configuration and relevant port sections of the
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40 online documentation.
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42 http://www.FreeRTOS.org - Documentation, latest information, license and
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45 http://www.SafeRTOS.com - A version that is certified for use in safety
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48 http://www.OpenRTOS.com - Commercial support, development, porting,
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49 licensing and training services.
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54 * Creates all the demo application tasks, then starts the scheduler. The WEB
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55 * documentation provides more details of the standard demo application tasks
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56 * (which just exist to test the kernel port and provide an example of how to use
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57 * each FreeRTOS API function).
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59 * In addition to the standard demo tasks, the following tasks and tests are
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60 * defined and/or created within this file:
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62 * "Check" hook - This only executes fully every five seconds from the tick
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63 * hook. Its main function is to check that all the standard demo tasks are
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64 * still operational. The status can be viewed using on the Task Stats page
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65 * served by the WEB server.
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67 * "uIP" task - This is the task that handles the uIP stack. All TCP/IP
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68 * processing is performed in this task.
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71 /* Scheduler includes. */
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72 #include "FreeRTOS.h"
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75 /* Demo app includes. */
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77 #include "integer.h"
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78 #include "blocktim.h"
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80 #include "partest.h"
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81 #include "semtest.h"
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83 #include "GenQTest.h"
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85 #include "recmutex.h"
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87 /*-----------------------------------------------------------*/
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89 /* The time between cycles of the 'check' functionality (defined within the
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91 #define mainCHECK_DELAY ( ( portTickType ) 5000 / portTICK_RATE_MS )
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93 /* Task priorities. */
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94 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
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95 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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96 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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97 #define mainUIP_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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98 #define mainINTEGER_TASK_PRIORITY ( tskIDLE_PRIORITY )
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99 #define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )
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100 #define mainFLASH_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
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102 /* The WEB server has a larger stack as it utilises stack hungry string
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103 handling library calls. */
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104 #define mainBASIC_WEB_STACK_SIZE ( configMINIMAL_STACK_SIZE * 4 )
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106 /* The message displayed by the WEB server when all tasks are executing
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107 without an error being reported. */
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108 #define mainPASS_STATUS_MESSAGE "All tasks are executing without error."
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110 /*-----------------------------------------------------------*/
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113 * Configure the hardware for the demo.
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115 static void prvSetupHardware( void );
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118 * The task that handles the uIP stack. All TCP/IP processing is performed in
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121 extern void vuIP_Task( void *pvParameters );
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124 * Simply returns the current status message for display on served WEB pages.
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126 char *pcGetTaskStatusMessage( void );
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128 /*-----------------------------------------------------------*/
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130 /* Holds the status message displayed by the WEB server. */
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131 static char *pcStatusMessage = mainPASS_STATUS_MESSAGE;
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133 /*-----------------------------------------------------------*/
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137 /* Configure the hardware for use by this demo. */
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138 prvSetupHardware();
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140 /* Start the standard demo tasks. These are just here to exercise the
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141 kernel port and provide examples of how the FreeRTOS API can be used. */
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142 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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143 vCreateBlockTimeTasks();
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144 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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145 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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146 vStartIntegerMathTasks( mainINTEGER_TASK_PRIORITY );
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147 vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
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148 vStartQueuePeekTasks();
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149 vStartRecursiveMutexTasks();
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150 vStartLEDFlashTasks( mainFLASH_TASK_PRIORITY );
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152 /* Create the uIP task. The WEB server runs in this task. */
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153 xTaskCreate( vuIP_Task, ( signed char * ) "uIP", mainBASIC_WEB_STACK_SIZE, ( void * ) NULL, mainUIP_TASK_PRIORITY, NULL );
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155 /* Start the scheduler. */
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156 vTaskStartScheduler();
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158 /* Will only get here if there was insufficient memory to create the idle
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159 task. The idle task is created within vTaskStartScheduler(). */
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162 /*-----------------------------------------------------------*/
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164 void vApplicationTickHook( void )
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166 static unsigned portLONG ulTicksSinceLastDisplay = 0;
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168 /* Called from every tick interrupt as described in the comments at the top
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171 Have enough ticks passed to make it time to perform our health status
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173 ulTicksSinceLastDisplay++;
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174 if( ulTicksSinceLastDisplay >= mainCHECK_DELAY )
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176 /* Reset the counter so these checks run again in mainCHECK_DELAY
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178 ulTicksSinceLastDisplay = 0;
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180 /* Has an error been found in any task? */
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181 if( xAreGenericQueueTasksStillRunning() != pdTRUE )
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183 pcStatusMessage = "An error has been detected in the Generic Queue test/demo.";
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185 else if( xAreQueuePeekTasksStillRunning() != pdTRUE )
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187 pcStatusMessage = "An error has been detected in the Peek Queue test/demo.";
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189 else if( xAreBlockingQueuesStillRunning() != pdTRUE )
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191 pcStatusMessage = "An error has been detected in the Block Queue test/demo.";
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193 else if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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195 pcStatusMessage = "An error has been detected in the Block Time test/demo.";
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197 else if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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199 pcStatusMessage = "An error has been detected in the Semaphore test/demo.";
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201 else if( xArePollingQueuesStillRunning() != pdTRUE )
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203 pcStatusMessage = "An error has been detected in the Poll Queue test/demo.";
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205 else if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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207 pcStatusMessage = "An error has been detected in the Int Math test/demo.";
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209 else if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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211 pcStatusMessage = "An error has been detected in the Mutex test/demo.";
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215 /*-----------------------------------------------------------*/
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217 char *pcGetTaskStatusMessage( void )
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219 /* Not bothered about a critical section here. */
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220 return pcStatusMessage;
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222 /*-----------------------------------------------------------*/
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224 void prvSetupHardware( void )
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226 /* Disable peripherals power. */
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229 /* Enable GPIO power. */
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230 SC->PCONP = PCONP_PCGPIO;
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232 /* Disable TPIU. */
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233 PINCON->PINSEL10 = 0;
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235 /* Disconnect the main PLL. */
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236 SC->PLL0CON &= ~PLLCON_PLLC;
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237 SC->PLL0FEED = PLLFEED_FEED1;
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238 SC->PLL0FEED = PLLFEED_FEED2;
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239 while ((SC->PLL0STAT & PLLSTAT_PLLC) != 0);
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241 /* Turn off the main PLL. */
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242 SC->PLL0CON &= ~PLLCON_PLLE;
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243 SC->PLL0FEED = PLLFEED_FEED1;
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244 SC->PLL0FEED = PLLFEED_FEED2;
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245 while ((SC->PLL0STAT & PLLSTAT_PLLE) != 0);
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247 /* No CPU clock divider. */
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252 while ((SC->SCS & 0x40) == 0);
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254 /* Use main oscillator. */
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256 SC->PLL0CFG = (PLLCFG_MUL16 | PLLCFG_DIV1);
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258 SC->PLL0FEED = PLLFEED_FEED1;
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259 SC->PLL0FEED = PLLFEED_FEED2;
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261 /* Activate the PLL by turning it on then feeding the correct
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262 sequence of bytes. */
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263 SC->PLL0CON = PLLCON_PLLE;
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264 SC->PLL0FEED = PLLFEED_FEED1;
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265 SC->PLL0FEED = PLLFEED_FEED2;
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267 /* 6x CPU clock divider (64 MHz) */
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270 /* Wait for the PLL to lock. */
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271 while ((SC->PLL0STAT & PLLSTAT_PLOCK) == 0);
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273 /* Connect the PLL. */
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274 SC->PLL0CON = PLLCON_PLLC | PLLCON_PLLE;
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275 SC->PLL0FEED = PLLFEED_FEED1;
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276 SC->PLL0FEED = PLLFEED_FEED2;
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278 /* Setup the peripheral bus to be the same as the PLL output (64 MHz). */
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279 SC->PCLKSEL0 = 0x05555555;
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281 /* Configure the LEDs. */
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282 vParTestInitialise();
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284 /*-----------------------------------------------------------*/
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286 void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed portCHAR *pcTaskName )
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288 /* This function will get called if a task overflows its stack. */
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291 ( void ) pcTaskName;
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295 /*-----------------------------------------------------------*/
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297 void vConfigureTimerForRunTimeStats( void )
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299 const unsigned long TCR_COUNT_RESET = 2, CTCR_CTM_TIMER = 0x00, TCR_COUNT_ENABLE = 0x01;
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301 /* This function configures a timer that is used as the time base when
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302 collecting run time statistical information - basically the percentage
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303 of CPU time that each task is utilising. It is called automatically when
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304 the scheduler is started (assuming configGENERATE_RUN_TIME_STATS is set
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307 /* Power up and feed the timer. */
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308 SC->PCONP |= 0x02UL;
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309 SC->PCLKSEL0 = (SC->PCLKSEL0 & (~(0x3<<2))) | (0x01 << 2);
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311 /* Reset Timer 0 */
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312 TIM0->TCR = TCR_COUNT_RESET;
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314 /* Just count up. */
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315 TIM0->CTCR = CTCR_CTM_TIMER;
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317 /* Prescale to a frequency that is good enough to get a decent resolution,
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318 but not too fast so as to overflow all the time. */
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319 TIM0->PR = ( configCPU_CLOCK_HZ / 10000UL ) - 1UL;
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321 /* Start the counter. */
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322 TIM0->TCR = TCR_COUNT_ENABLE;
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324 /*-----------------------------------------------------------*/
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