2 FreeRTOS V6.0.1 - Copyright (C) 2009 Real Time Engineers Ltd.
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4 ***************************************************************************
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8 * + New to FreeRTOS, *
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9 * + Wanting to learn FreeRTOS or multitasking in general quickly *
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10 * + Looking for basic training, *
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11 * + Wanting to improve your FreeRTOS skills and productivity *
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13 * then take a look at the FreeRTOS eBook *
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15 * "Using the FreeRTOS Real Time Kernel - a Practical Guide" *
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16 * http://www.FreeRTOS.org/Documentation *
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18 * A pdf reference manual is also available. Both are usually delivered *
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19 * to your inbox within 20 minutes to two hours when purchased between 8am *
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20 * and 8pm GMT (although please allow up to 24 hours in case of *
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21 * exceptional circumstances). Thank you for your support! *
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23 ***************************************************************************
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25 This file is part of the FreeRTOS distribution.
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27 FreeRTOS is free software; you can redistribute it and/or modify it under
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28 the terms of the GNU General Public License (version 2) as published by the
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29 Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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30 ***NOTE*** The exception to the GPL is included to allow you to distribute
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31 a combined work that includes FreeRTOS without being obliged to provide the
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32 source code for proprietary components outside of the FreeRTOS kernel.
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33 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT
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34 ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
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35 FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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36 more details. You should have received a copy of the GNU General Public
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37 License and the FreeRTOS license exception along with FreeRTOS; if not it
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38 can be viewed here: http://www.freertos.org/a00114.html and also obtained
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39 by writing to Richard Barry, contact details for whom are available on the
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44 http://www.FreeRTOS.org - Documentation, latest information, license and
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47 http://www.SafeRTOS.com - A version that is certified for use in safety
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50 http://www.OpenRTOS.com - Commercial support, development, porting,
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51 licensing and training services.
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56 * Creates all the demo application tasks, then starts the scheduler. The WEB
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57 * documentation provides more details of the standard demo application tasks
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58 * (which just exist to test the kernel port and provide an example of how to use
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59 * each FreeRTOS API function).
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61 * In addition to the standard demo tasks, the following tasks and tests are
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62 * defined and/or created within this file:
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64 * "Check" hook - This only executes fully every five seconds from the tick
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65 * hook. Its main function is to check that all the standard demo tasks are
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66 * still operational. The status can be viewed using on the Task Stats page
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67 * served by the WEB server.
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69 * "uIP" task - This is the task that handles the uIP stack. All TCP/IP
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70 * processing is performed in this task.
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72 * "USB" task - Enumerates the USB device as a CDC class, then echoes back all
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73 * received characters with a configurable offset (for example, if the offset
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74 * is 1 and 'A' is received then 'B' will be sent back). A dumb terminal such
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75 * as Hyperterminal can be used to talk to the USB task.
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78 /* Scheduler includes. */
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79 #include "FreeRTOS.h"
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82 /* Demo app includes. */
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84 #include "integer.h"
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85 #include "blocktim.h"
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87 #include "partest.h"
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88 #include "semtest.h"
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90 #include "GenQTest.h"
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92 #include "recmutex.h"
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94 /*-----------------------------------------------------------*/
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96 /* The time between cycles of the 'check' functionality (defined within the
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98 #define mainCHECK_DELAY ( ( portTickType ) 5000 / portTICK_RATE_MS )
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100 /* The toggle rate for the LED. */
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101 #define mainLED_TOGGLE_RATE ( ( portTickType ) 1000 / portTICK_RATE_MS )
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103 /* Task priorities. */
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104 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
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105 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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106 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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107 #define mainUIP_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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108 #define mainFLASH_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
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109 #define mainINTEGER_TASK_PRIORITY ( tskIDLE_PRIORITY )
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110 #define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )
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112 /* The WEB server has a larger stack as it utilises stack hungry string
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113 handling library calls. */
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114 #define mainBASIC_WEB_STACK_SIZE ( configMINIMAL_STACK_SIZE * 4 )
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116 /* The message displayed by the WEB server when all tasks are executing
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117 without an error being reported. */
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118 #define mainPASS_STATUS_MESSAGE "All tasks are executing without error."
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120 /*-----------------------------------------------------------*/
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123 * Configure the hardware for the demo.
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125 static void prvSetupHardware( void );
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128 * The task that handles the uIP stack. All TCP/IP processing is performed in
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131 extern void vuIP_Task( void *pvParameters );
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134 * The task that handles the USB stack.
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136 extern void vUSBTask( void *pvParameters );
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139 * Very basic task that does nothing but use delays to flash an LED.
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141 static void prvFlashTask( void *pvParameters );
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144 * Simply returns the current status message for display on served WEB pages.
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146 char *pcGetTaskStatusMessage( void );
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148 /*-----------------------------------------------------------*/
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150 /* Holds the status message displayed by the WEB server. */
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151 static char *pcStatusMessage = mainPASS_STATUS_MESSAGE;
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153 /*-----------------------------------------------------------*/
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157 /* Configure the hardware for use by this demo. */
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158 prvSetupHardware();
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160 /* Start the standard demo tasks. These are just here to exercise the
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161 kernel port and provide examples of how the FreeRTOS API can be used. */
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162 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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163 vCreateBlockTimeTasks();
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164 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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165 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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166 vStartIntegerMathTasks( mainINTEGER_TASK_PRIORITY );
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167 vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
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168 vStartQueuePeekTasks();
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169 vStartRecursiveMutexTasks();
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171 /* Create the simple LED flash task. */
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172 xTaskCreate( prvFlashTask, ( signed char * ) "Flash", configMINIMAL_STACK_SIZE, ( void * ) NULL, mainFLASH_TASK_PRIORITY, NULL );
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174 /* Create the USB task. */
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175 xTaskCreate( vUSBTask, ( signed char * ) "USB", configMINIMAL_STACK_SIZE, ( void * ) NULL, tskIDLE_PRIORITY, NULL );
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177 /* Create the uIP task. The WEB server runs in this task. */
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178 xTaskCreate( vuIP_Task, ( signed char * ) "uIP", mainBASIC_WEB_STACK_SIZE, ( void * ) NULL, mainUIP_TASK_PRIORITY, NULL );
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180 /* Start the scheduler. */
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181 vTaskStartScheduler();
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183 /* Will only get here if there was insufficient memory to create the idle
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184 task. The idle task is created within vTaskStartScheduler(). */
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187 /*-----------------------------------------------------------*/
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189 void vApplicationTickHook( void )
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191 static unsigned long ulTicksSinceLastDisplay = 0;
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193 /* Called from every tick interrupt as described in the comments at the top
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196 Have enough ticks passed to make it time to perform our health status
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198 ulTicksSinceLastDisplay++;
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199 if( ulTicksSinceLastDisplay >= mainCHECK_DELAY )
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201 /* Reset the counter so these checks run again in mainCHECK_DELAY
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203 ulTicksSinceLastDisplay = 0;
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205 /* Has an error been found in any task? */
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206 if( xAreGenericQueueTasksStillRunning() != pdTRUE )
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208 pcStatusMessage = "An error has been detected in the Generic Queue test/demo.";
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210 else if( xAreQueuePeekTasksStillRunning() != pdTRUE )
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212 pcStatusMessage = "An error has been detected in the Peek Queue test/demo.";
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214 else if( xAreBlockingQueuesStillRunning() != pdTRUE )
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216 pcStatusMessage = "An error has been detected in the Block Queue test/demo.";
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218 else if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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220 pcStatusMessage = "An error has been detected in the Block Time test/demo.";
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222 else if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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224 pcStatusMessage = "An error has been detected in the Semaphore test/demo.";
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226 else if( xArePollingQueuesStillRunning() != pdTRUE )
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228 pcStatusMessage = "An error has been detected in the Poll Queue test/demo.";
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230 else if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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232 pcStatusMessage = "An error has been detected in the Int Math test/demo.";
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234 else if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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236 pcStatusMessage = "An error has been detected in the Mutex test/demo.";
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240 /*-----------------------------------------------------------*/
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242 static void prvFlashTask( void *pvParameters )
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244 portTickType xLastFlashTime;
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246 /* We need to initialise xLastFlashTime prior to the first call to
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247 vTaskDelayUntil(). */
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248 xLastFlashTime = xTaskGetTickCount();
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252 /* Simply toggle the LED between delays. */
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253 vTaskDelayUntil( &xLastFlashTime, mainLED_TOGGLE_RATE );
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254 vParTestToggleLED( 0 );
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257 /*-----------------------------------------------------------*/
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259 char *pcGetTaskStatusMessage( void )
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261 /* Not bothered about a critical section here. */
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262 return pcStatusMessage;
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264 /*-----------------------------------------------------------*/
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266 void prvSetupHardware( void )
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268 /* Disable peripherals power. */
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271 /* Enable GPIO power. */
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272 SC->PCONP = PCONP_PCGPIO;
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274 /* Disable TPIU. */
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275 PINCON->PINSEL10 = 0;
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277 if ( SC->PLL0STAT & ( 1 << 25 ) )
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279 /* Enable PLL, disconnected. */
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281 SC->PLL0FEED = PLLFEED_FEED1;
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282 SC->PLL0FEED = PLLFEED_FEED2;
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285 /* Disable PLL, disconnected. */
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287 SC->PLL0FEED = PLLFEED_FEED1;
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288 SC->PLL0FEED = PLLFEED_FEED2;
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290 /* Enable main OSC. */
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292 while( !( SC->SCS & 0x40 ) );
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294 /* select main OSC, 12MHz, as the PLL clock source. */
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295 SC->CLKSRCSEL = 0x1;
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297 SC->PLL0CFG = 0x20031;
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298 SC->PLL0FEED = PLLFEED_FEED1;
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299 SC->PLL0FEED = PLLFEED_FEED2;
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301 /* Enable PLL, disconnected. */
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303 SC->PLL0FEED = PLLFEED_FEED1;
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304 SC->PLL0FEED = PLLFEED_FEED2;
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306 /* Set clock divider. */
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307 SC->CCLKCFG = 0x03;
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309 /* Configure flash accelerator. */
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310 SC->FLASHCFG = 0x403a;
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312 /* Check lock bit status. */
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313 while( ( ( SC->PLL0STAT & ( 1 << 26 ) ) == 0 ) );
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315 /* Enable and connect. */
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317 SC->PLL0FEED = PLLFEED_FEED1;
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318 SC->PLL0FEED = PLLFEED_FEED2;
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319 while( ( ( SC->PLL0STAT & ( 1 << 25 ) ) == 0 ) );
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324 /* Configure the clock for the USB. */
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326 if( SC->PLL1STAT & ( 1 << 9 ) )
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328 /* Enable PLL, disconnected. */
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330 SC->PLL1FEED = PLLFEED_FEED1;
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331 SC->PLL1FEED = PLLFEED_FEED2;
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334 /* Disable PLL, disconnected. */
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336 SC->PLL1FEED = PLLFEED_FEED1;
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337 SC->PLL1FEED = PLLFEED_FEED2;
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339 SC->PLL1CFG = 0x23;
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340 SC->PLL1FEED = PLLFEED_FEED1;
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341 SC->PLL1FEED = PLLFEED_FEED2;
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343 /* Enable PLL, disconnected. */
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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 << 10 ) ) == 0 ) );
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349 /* Enable and connect. */
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351 SC->PLL1FEED = PLLFEED_FEED1;
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352 SC->PLL1FEED = PLLFEED_FEED2;
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353 while( ( ( SC->PLL1STAT & ( 1 << 9 ) ) == 0 ) );
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355 /* Setup the peripheral bus to be the same as the PLL output (64 MHz). */
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356 SC->PCLKSEL0 = 0x05555555;
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358 /* Configure the LEDs. */
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359 vParTestInitialise();
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361 /*-----------------------------------------------------------*/
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363 void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed char *pcTaskName )
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365 /* This function will get called if a task overflows its stack. */
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368 ( void ) pcTaskName;
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372 /*-----------------------------------------------------------*/
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374 void vConfigureTimerForRunTimeStats( void )
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376 const unsigned long TCR_COUNT_RESET = 2, CTCR_CTM_TIMER = 0x00, TCR_COUNT_ENABLE = 0x01;
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378 /* This function configures a timer that is used as the time base when
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379 collecting run time statistical information - basically the percentage
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380 of CPU time that each task is utilising. It is called automatically when
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381 the scheduler is started (assuming configGENERATE_RUN_TIME_STATS is set
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384 /* Power up and feed the timer. */
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385 SC->PCONP |= 0x02UL;
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386 SC->PCLKSEL0 = (SC->PCLKSEL0 & (~(0x3<<2))) | (0x01 << 2);
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388 /* Reset Timer 0 */
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389 TIM0->TCR = TCR_COUNT_RESET;
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391 /* Just count up. */
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392 TIM0->CTCR = CTCR_CTM_TIMER;
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394 /* Prescale to a frequency that is good enough to get a decent resolution,
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395 but not too fast so as to overflow all the time. */
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396 TIM0->PR = ( configCPU_CLOCK_HZ / 10000UL ) - 1UL;
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398 /* Start the counter. */
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399 TIM0->TCR = TCR_COUNT_ENABLE;
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401 /*-----------------------------------------------------------*/
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