2 FreeRTOS V6.0.0 - 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 * The FreeRTOS eBook and reference manual are available to purchase for a *
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29 * small fee. Help yourself get started quickly while also helping the *
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30 * FreeRTOS project! See http://www.FreeRTOS.org/Documentation for details *
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32 ***************************************************************************
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36 Please ensure to read the configuration and relevant port sections of the
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37 online documentation.
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39 http://www.FreeRTOS.org - Documentation, latest information, license and
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42 http://www.SafeRTOS.com - A version that is certified for use in safety
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45 http://www.OpenRTOS.com - Commercial support, development, porting,
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46 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 standard demo application tasks
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53 * (which just exist to test the kernel port and provide an example of how to use
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54 * each FreeRTOS API function).
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56 * In addition to the standard demo tasks, the following tasks and tests are
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57 * defined and/or created within this file:
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59 * "Check" hook - This only executes fully every five seconds from the tick
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60 * hook. Its main function is to check that all the standard demo tasks are
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61 * still operational. The status can be viewed using on the Task Stats page
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62 * served by the WEB server.
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64 * "uIP" task - This is the task that handles the uIP stack. All TCP/IP
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65 * processing is performed in this task.
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67 * "USB" task - Enumerates the USB device as a CDC class, then echoes back all
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68 * received characters with a configurable offset (for example, if the offset
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69 * is 1 and 'A' is received then 'B' will be sent back). A dumb terminal such
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70 * as Hyperterminal can be used to talk to the USB task.
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73 /* Scheduler includes. */
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74 #include "FreeRTOS.h"
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77 /* Demo app includes. */
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79 #include "integer.h"
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80 #include "blocktim.h"
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82 #include "partest.h"
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83 #include "semtest.h"
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85 #include "GenQTest.h"
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87 #include "recmutex.h"
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89 /*-----------------------------------------------------------*/
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91 /* The time between cycles of the 'check' functionality (defined within the
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93 #define mainCHECK_DELAY ( ( portTickType ) 5000 / portTICK_RATE_MS )
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95 /* The toggle rate for the LED. */
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96 #define mainLED_TOGGLE_RATE ( ( portTickType ) 1000 / portTICK_RATE_MS )
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98 /* Task priorities. */
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99 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
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100 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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101 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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102 #define mainUIP_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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103 #define mainFLASH_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
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104 #define mainINTEGER_TASK_PRIORITY ( tskIDLE_PRIORITY )
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105 #define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )
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107 /* The WEB server has a larger stack as it utilises stack hungry string
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108 handling library calls. */
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109 #define mainBASIC_WEB_STACK_SIZE ( configMINIMAL_STACK_SIZE * 4 )
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111 /* The message displayed by the WEB server when all tasks are executing
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112 without an error being reported. */
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113 #define mainPASS_STATUS_MESSAGE "All tasks are executing without error."
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115 /*-----------------------------------------------------------*/
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118 * Configure the hardware for the demo.
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120 static void prvSetupHardware( void );
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123 * The task that handles the uIP stack. All TCP/IP processing is performed in
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126 extern void vuIP_Task( void *pvParameters );
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129 * The task that handles the USB stack.
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131 extern void vUSBTask( void *pvParameters );
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134 * Very basic task that does nothing but use delays to flash an LED.
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136 static void prvFlashTask( void *pvParameters );
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139 * Simply returns the current status message for display on served WEB pages.
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141 char *pcGetTaskStatusMessage( void );
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143 /*-----------------------------------------------------------*/
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145 /* Holds the status message displayed by the WEB server. */
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146 static char *pcStatusMessage = mainPASS_STATUS_MESSAGE;
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148 /*-----------------------------------------------------------*/
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152 /* Configure the hardware for use by this demo. */
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153 prvSetupHardware();
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155 /* Start the standard demo tasks. These are just here to exercise the
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156 kernel port and provide examples of how the FreeRTOS API can be used. */
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157 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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158 vCreateBlockTimeTasks();
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159 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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160 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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161 vStartIntegerMathTasks( mainINTEGER_TASK_PRIORITY );
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162 vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
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163 vStartQueuePeekTasks();
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164 vStartRecursiveMutexTasks();
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166 /* Create the simple LED flash task. */
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167 xTaskCreate( prvFlashTask, ( signed char * ) "Flash", configMINIMAL_STACK_SIZE, ( void * ) NULL, mainFLASH_TASK_PRIORITY, NULL );
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169 /* Create the USB task. */
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170 xTaskCreate( vUSBTask, ( signed char * ) "USB", configMINIMAL_STACK_SIZE, ( void * ) NULL, tskIDLE_PRIORITY, NULL );
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172 /* Create the uIP task. The WEB server runs in this task. */
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173 xTaskCreate( vuIP_Task, ( signed char * ) "uIP", mainBASIC_WEB_STACK_SIZE, ( void * ) NULL, mainUIP_TASK_PRIORITY, NULL );
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175 /* Start the scheduler. */
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176 vTaskStartScheduler();
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178 /* Will only get here if there was insufficient memory to create the idle
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179 task. The idle task is created within vTaskStartScheduler(). */
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182 /*-----------------------------------------------------------*/
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184 void vApplicationTickHook( void )
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186 static unsigned long ulTicksSinceLastDisplay = 0;
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188 /* Called from every tick interrupt as described in the comments at the top
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191 Have enough ticks passed to make it time to perform our health status
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193 ulTicksSinceLastDisplay++;
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194 if( ulTicksSinceLastDisplay >= mainCHECK_DELAY )
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196 /* Reset the counter so these checks run again in mainCHECK_DELAY
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198 ulTicksSinceLastDisplay = 0;
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200 /* Has an error been found in any task? */
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201 if( xAreGenericQueueTasksStillRunning() != pdTRUE )
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203 pcStatusMessage = "An error has been detected in the Generic Queue test/demo.";
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205 else if( xAreQueuePeekTasksStillRunning() != pdTRUE )
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207 pcStatusMessage = "An error has been detected in the Peek Queue test/demo.";
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209 else if( xAreBlockingQueuesStillRunning() != pdTRUE )
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211 pcStatusMessage = "An error has been detected in the Block Queue test/demo.";
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213 else if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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215 pcStatusMessage = "An error has been detected in the Block Time test/demo.";
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217 else if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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219 pcStatusMessage = "An error has been detected in the Semaphore test/demo.";
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221 else if( xArePollingQueuesStillRunning() != pdTRUE )
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223 pcStatusMessage = "An error has been detected in the Poll Queue test/demo.";
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225 else if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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227 pcStatusMessage = "An error has been detected in the Int Math test/demo.";
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229 else if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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231 pcStatusMessage = "An error has been detected in the Mutex test/demo.";
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235 /*-----------------------------------------------------------*/
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237 static void prvFlashTask( void *pvParameters )
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239 portTickType xLastFlashTime;
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241 /* We need to initialise xLastFlashTime prior to the first call to
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242 vTaskDelayUntil(). */
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243 xLastFlashTime = xTaskGetTickCount();
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247 /* Simply toggle the LED between delays. */
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248 vTaskDelayUntil( &xLastFlashTime, mainLED_TOGGLE_RATE );
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249 vParTestToggleLED( 0 );
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252 /*-----------------------------------------------------------*/
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254 char *pcGetTaskStatusMessage( void )
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256 /* Not bothered about a critical section here. */
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257 return pcStatusMessage;
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259 /*-----------------------------------------------------------*/
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261 void prvSetupHardware( void )
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263 /* Disable peripherals power. */
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266 /* Enable GPIO power. */
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267 SC->PCONP = PCONP_PCGPIO;
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269 /* Disable TPIU. */
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270 PINCON->PINSEL10 = 0;
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272 if ( SC->PLL0STAT & ( 1 << 25 ) )
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274 /* Enable PLL, disconnected. */
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276 SC->PLL0FEED = PLLFEED_FEED1;
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277 SC->PLL0FEED = PLLFEED_FEED2;
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280 /* Disable PLL, disconnected. */
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282 SC->PLL0FEED = PLLFEED_FEED1;
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283 SC->PLL0FEED = PLLFEED_FEED2;
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285 /* Enable main OSC. */
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287 while( !( SC->SCS & 0x40 ) );
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289 /* select main OSC, 12MHz, as the PLL clock source. */
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290 SC->CLKSRCSEL = 0x1;
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292 SC->PLL0CFG = 0x20031;
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293 SC->PLL0FEED = PLLFEED_FEED1;
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294 SC->PLL0FEED = PLLFEED_FEED2;
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296 /* Enable PLL, disconnected. */
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298 SC->PLL0FEED = PLLFEED_FEED1;
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299 SC->PLL0FEED = PLLFEED_FEED2;
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301 /* Set clock divider. */
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302 SC->CCLKCFG = 0x03;
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304 /* Configure flash accelerator. */
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305 SC->FLASHCFG = 0x403a;
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307 /* Check lock bit status. */
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308 while( ( ( SC->PLL0STAT & ( 1 << 26 ) ) == 0 ) );
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310 /* Enable and connect. */
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312 SC->PLL0FEED = PLLFEED_FEED1;
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313 SC->PLL0FEED = PLLFEED_FEED2;
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314 while( ( ( SC->PLL0STAT & ( 1 << 25 ) ) == 0 ) );
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319 /* Configure the clock for the USB. */
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321 if( SC->PLL1STAT & ( 1 << 9 ) )
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323 /* Enable PLL, disconnected. */
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325 SC->PLL1FEED = PLLFEED_FEED1;
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326 SC->PLL1FEED = PLLFEED_FEED2;
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329 /* Disable PLL, disconnected. */
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331 SC->PLL1FEED = PLLFEED_FEED1;
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332 SC->PLL1FEED = PLLFEED_FEED2;
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334 SC->PLL1CFG = 0x23;
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335 SC->PLL1FEED = PLLFEED_FEED1;
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336 SC->PLL1FEED = PLLFEED_FEED2;
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338 /* Enable PLL, disconnected. */
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340 SC->PLL1FEED = PLLFEED_FEED1;
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341 SC->PLL1FEED = PLLFEED_FEED2;
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342 while( ( ( SC->PLL1STAT & ( 1 << 10 ) ) == 0 ) );
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344 /* Enable and connect. */
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346 SC->PLL1FEED = PLLFEED_FEED1;
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347 SC->PLL1FEED = PLLFEED_FEED2;
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348 while( ( ( SC->PLL1STAT & ( 1 << 9 ) ) == 0 ) );
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350 /* Setup the peripheral bus to be the same as the PLL output (64 MHz). */
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351 SC->PCLKSEL0 = 0x05555555;
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353 /* Configure the LEDs. */
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354 vParTestInitialise();
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356 /*-----------------------------------------------------------*/
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358 void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed char *pcTaskName )
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360 /* This function will get called if a task overflows its stack. */
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363 ( void ) pcTaskName;
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367 /*-----------------------------------------------------------*/
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369 void vConfigureTimerForRunTimeStats( void )
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371 const unsigned long TCR_COUNT_RESET = 2, CTCR_CTM_TIMER = 0x00, TCR_COUNT_ENABLE = 0x01;
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373 /* This function configures a timer that is used as the time base when
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374 collecting run time statistical information - basically the percentage
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375 of CPU time that each task is utilising. It is called automatically when
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376 the scheduler is started (assuming configGENERATE_RUN_TIME_STATS is set
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379 /* Power up and feed the timer. */
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380 SC->PCONP |= 0x02UL;
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381 SC->PCLKSEL0 = (SC->PCLKSEL0 & (~(0x3<<2))) | (0x01 << 2);
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383 /* Reset Timer 0 */
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384 TIM0->TCR = TCR_COUNT_RESET;
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386 /* Just count up. */
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387 TIM0->CTCR = CTCR_CTM_TIMER;
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389 /* Prescale to a frequency that is good enough to get a decent resolution,
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390 but not too fast so as to overflow all the time. */
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391 TIM0->PR = ( configCPU_CLOCK_HZ / 10000UL ) - 1UL;
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393 /* Start the counter. */
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394 TIM0->TCR = TCR_COUNT_ENABLE;
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396 /*-----------------------------------------------------------*/
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