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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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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66 * "USB" task - Enumerates the USB device as a CDC class, then echoes back all
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67 * received characters with a configurable offset (for example, if the offset
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68 * is 1 and 'A' is received then 'B' will be sent back). A dumb terminal such
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69 * as Hyperterminal can be used to talk to the USB task.
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72 /* Scheduler includes. */
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73 #include "FreeRTOS.h"
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76 /* Demo app includes. */
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78 #include "integer.h"
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79 #include "blocktim.h"
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81 #include "partest.h"
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82 #include "semtest.h"
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84 #include "GenQTest.h"
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86 #include "recmutex.h"
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88 /*-----------------------------------------------------------*/
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90 /* The time between cycles of the 'check' functionality (defined within the
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92 #define mainCHECK_DELAY ( ( portTickType ) 5000 / portTICK_RATE_MS )
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94 /* The toggle rate for the LED. */
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95 #define mainLED_TOGGLE_RATE ( ( portTickType ) 1000 / portTICK_RATE_MS )
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97 /* Task priorities. */
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98 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
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99 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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100 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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101 #define mainUIP_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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102 #define mainFLASH_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
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103 #define mainINTEGER_TASK_PRIORITY ( tskIDLE_PRIORITY )
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104 #define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )
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106 /* The WEB server has a larger stack as it utilises stack hungry string
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107 handling library calls. */
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108 #define mainBASIC_WEB_STACK_SIZE ( configMINIMAL_STACK_SIZE * 4 )
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110 /* The message displayed by the WEB server when all tasks are executing
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111 without an error being reported. */
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112 #define mainPASS_STATUS_MESSAGE "All tasks are executing without error."
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114 /*-----------------------------------------------------------*/
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117 * Configure the hardware for the demo.
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119 static void prvSetupHardware( void );
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122 * The task that handles the uIP stack. All TCP/IP processing is performed in
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125 extern void vuIP_Task( void *pvParameters );
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128 * The task that handles the USB stack.
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130 extern void vUSBTask( void *pvParameters );
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133 * Very basic task that does nothing but use delays to flash an LED.
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135 static void prvFlashTask( void *pvParameters );
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138 * Simply returns the current status message for display on served WEB pages.
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140 char *pcGetTaskStatusMessage( void );
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142 /*-----------------------------------------------------------*/
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144 /* Holds the status message displayed by the WEB server. */
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145 static char *pcStatusMessage = mainPASS_STATUS_MESSAGE;
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147 /*-----------------------------------------------------------*/
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151 /* Configure the hardware for use by this demo. */
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152 prvSetupHardware();
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154 /* Start the standard demo tasks. These are just here to exercise the
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155 kernel port and provide examples of how the FreeRTOS API can be used. */
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156 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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157 vCreateBlockTimeTasks();
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158 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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159 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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160 vStartIntegerMathTasks( mainINTEGER_TASK_PRIORITY );
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161 vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
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162 vStartQueuePeekTasks();
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163 vStartRecursiveMutexTasks();
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165 /* Create the simple LED flash task. */
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166 xTaskCreate( prvFlashTask, ( signed char * ) "Flash", configMINIMAL_STACK_SIZE, ( void * ) NULL, mainFLASH_TASK_PRIORITY, NULL );
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168 /* Create the USB task. */
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169 xTaskCreate( vUSBTask, ( signed char * ) "USB", configMINIMAL_STACK_SIZE, ( void * ) NULL, tskIDLE_PRIORITY, NULL );
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171 /* Create the uIP task. The WEB server runs in this task. */
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172 xTaskCreate( vuIP_Task, ( signed char * ) "uIP", mainBASIC_WEB_STACK_SIZE, ( void * ) NULL, mainUIP_TASK_PRIORITY, NULL );
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174 /* Start the scheduler. */
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175 vTaskStartScheduler();
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177 /* Will only get here if there was insufficient memory to create the idle
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178 task. The idle task is created within vTaskStartScheduler(). */
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181 /*-----------------------------------------------------------*/
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183 void vApplicationTickHook( void )
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185 static unsigned portLONG ulTicksSinceLastDisplay = 0;
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187 /* Called from every tick interrupt as described in the comments at the top
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190 Have enough ticks passed to make it time to perform our health status
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192 ulTicksSinceLastDisplay++;
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193 if( ulTicksSinceLastDisplay >= mainCHECK_DELAY )
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195 /* Reset the counter so these checks run again in mainCHECK_DELAY
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197 ulTicksSinceLastDisplay = 0;
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199 /* Has an error been found in any task? */
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200 if( xAreGenericQueueTasksStillRunning() != pdTRUE )
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202 pcStatusMessage = "An error has been detected in the Generic Queue test/demo.";
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204 else if( xAreQueuePeekTasksStillRunning() != pdTRUE )
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206 pcStatusMessage = "An error has been detected in the Peek Queue test/demo.";
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208 else if( xAreBlockingQueuesStillRunning() != pdTRUE )
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210 pcStatusMessage = "An error has been detected in the Block Queue test/demo.";
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212 else if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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214 pcStatusMessage = "An error has been detected in the Block Time test/demo.";
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216 else if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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218 pcStatusMessage = "An error has been detected in the Semaphore test/demo.";
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220 else if( xArePollingQueuesStillRunning() != pdTRUE )
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222 pcStatusMessage = "An error has been detected in the Poll Queue test/demo.";
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224 else if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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226 pcStatusMessage = "An error has been detected in the Int Math test/demo.";
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228 else if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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230 pcStatusMessage = "An error has been detected in the Mutex test/demo.";
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234 /*-----------------------------------------------------------*/
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236 static void prvFlashTask( void *pvParameters )
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238 portTickType xLastFlashTime;
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240 /* We need to initialise xLastFlashTime prior to the first call to
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241 vTaskDelayUntil(). */
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242 xLastFlashTime = xTaskGetTickCount();
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246 /* Simply toggle the LED between delays. */
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247 vTaskDelayUntil( &xLastFlashTime, mainLED_TOGGLE_RATE );
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248 vParTestToggleLED( 0 );
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251 /*-----------------------------------------------------------*/
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253 char *pcGetTaskStatusMessage( void )
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255 /* Not bothered about a critical section here. */
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256 return pcStatusMessage;
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258 /*-----------------------------------------------------------*/
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260 void prvSetupHardware( void )
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262 /* Disable peripherals power. */
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265 /* Enable GPIO power. */
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266 SC->PCONP = PCONP_PCGPIO;
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268 /* Disable TPIU. */
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269 PINCON->PINSEL10 = 0;
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271 if ( SC->PLL0STAT & ( 1 << 25 ) )
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273 /* Enable PLL, disconnected. */
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275 SC->PLL0FEED = PLLFEED_FEED1;
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276 SC->PLL0FEED = PLLFEED_FEED2;
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279 /* Disable PLL, disconnected. */
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281 SC->PLL0FEED = PLLFEED_FEED1;
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282 SC->PLL0FEED = PLLFEED_FEED2;
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284 /* Enable main OSC. */
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286 while( !( SC->SCS & 0x40 ) );
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288 /* select main OSC, 12MHz, as the PLL clock source. */
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289 SC->CLKSRCSEL = 0x1;
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291 SC->PLL0CFG = 0x20031;
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292 SC->PLL0FEED = PLLFEED_FEED1;
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293 SC->PLL0FEED = PLLFEED_FEED2;
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295 /* Enable PLL, disconnected. */
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297 SC->PLL0FEED = PLLFEED_FEED1;
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298 SC->PLL0FEED = PLLFEED_FEED2;
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300 /* Set clock divider. */
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301 SC->CCLKCFG = 0x03;
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303 /* Configure flash accelerator. */
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304 SC->FLASHCFG = 0x403a;
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306 /* Check lock bit status. */
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307 while( ( ( SC->PLL0STAT & ( 1 << 26 ) ) == 0 ) );
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309 /* Enable and connect. */
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311 SC->PLL0FEED = PLLFEED_FEED1;
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312 SC->PLL0FEED = PLLFEED_FEED2;
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313 while( ( ( SC->PLL0STAT & ( 1 << 25 ) ) == 0 ) );
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318 /* Configure the clock for the USB. */
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320 if( SC->PLL1STAT & ( 1 << 9 ) )
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322 /* Enable PLL, disconnected. */
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324 SC->PLL1FEED = PLLFEED_FEED1;
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325 SC->PLL1FEED = PLLFEED_FEED2;
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328 /* Disable PLL, disconnected. */
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330 SC->PLL1FEED = PLLFEED_FEED1;
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331 SC->PLL1FEED = PLLFEED_FEED2;
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333 SC->PLL1CFG = 0x23;
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334 SC->PLL1FEED = PLLFEED_FEED1;
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335 SC->PLL1FEED = PLLFEED_FEED2;
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337 /* Enable PLL, disconnected. */
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339 SC->PLL1FEED = PLLFEED_FEED1;
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340 SC->PLL1FEED = PLLFEED_FEED2;
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341 while( ( ( SC->PLL1STAT & ( 1 << 10 ) ) == 0 ) );
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343 /* Enable and connect. */
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345 SC->PLL1FEED = PLLFEED_FEED1;
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346 SC->PLL1FEED = PLLFEED_FEED2;
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347 while( ( ( SC->PLL1STAT & ( 1 << 9 ) ) == 0 ) );
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349 /* Setup the peripheral bus to be the same as the PLL output (64 MHz). */
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350 SC->PCLKSEL0 = 0x05555555;
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352 /* Configure the LEDs. */
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353 vParTestInitialise();
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355 /*-----------------------------------------------------------*/
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357 void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed portCHAR *pcTaskName )
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359 /* This function will get called if a task overflows its stack. */
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362 ( void ) pcTaskName;
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366 /*-----------------------------------------------------------*/
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368 void vConfigureTimerForRunTimeStats( void )
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370 const unsigned long TCR_COUNT_RESET = 2, CTCR_CTM_TIMER = 0x00, TCR_COUNT_ENABLE = 0x01;
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372 /* This function configures a timer that is used as the time base when
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373 collecting run time statistical information - basically the percentage
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374 of CPU time that each task is utilising. It is called automatically when
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375 the scheduler is started (assuming configGENERATE_RUN_TIME_STATS is set
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378 /* Power up and feed the timer. */
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379 SC->PCONP |= 0x02UL;
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380 SC->PCLKSEL0 = (SC->PCLKSEL0 & (~(0x3<<2))) | (0x01 << 2);
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382 /* Reset Timer 0 */
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383 TIM0->TCR = TCR_COUNT_RESET;
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385 /* Just count up. */
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386 TIM0->CTCR = CTCR_CTM_TIMER;
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388 /* Prescale to a frequency that is good enough to get a decent resolution,
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389 but not too fast so as to overflow all the time. */
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390 TIM0->PR = ( configCPU_CLOCK_HZ / 10000UL ) - 1UL;
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392 /* Start the counter. */
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393 TIM0->TCR = TCR_COUNT_ENABLE;
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395 /*-----------------------------------------------------------*/
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