2 FreeRTOS V6.0.5 - Copyright (C) 2010 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" task - This only executes every five seconds but has the highest
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65 * priority so is guaranteed to get processor time. Its main function is to
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66 * check that all the standard demo tasks are still operational. The check task
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67 * will toggle LED 7 (PB15) every five seconds so long as no errors have been
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68 * detected. The toggle rate will increase to half a second if an error has
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69 * been found in any task.
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73 /* Standard includes. */
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76 /* Scheduler includes. */
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77 #include "FreeRTOS.h"
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82 /* Library includes. */
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83 #include "stm32f10x_it.h"
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84 #include "stm32f10x_tim.h"
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86 /* Demo app includes. */
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88 #include "integer.h"
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90 #include "partest.h"
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91 #include "semtest.h"
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92 #include "GenQTest.h"
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94 #include "recmutex.h"
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97 /* The time between cycles of the 'check' task - which depends on whether the
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98 check task has detected an error or not. */
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99 #define mainCHECK_DELAY_NO_ERROR ( ( portTickType ) 5000 / portTICK_RATE_MS )
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100 #define mainCHECK_DELAY_ERROR ( ( portTickType ) 500 / portTICK_RATE_MS )
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102 /* The LED controlled by the 'check' task. */
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103 #define mainCHECK_LED ( 7 )
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105 /* Task priorities. */
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106 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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107 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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108 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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109 #define mainFLASH_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
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110 #define mainLCD_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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111 #define mainINTEGER_TASK_PRIORITY ( tskIDLE_PRIORITY )
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112 #define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )
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114 /* The WEB server has a larger stack as it utilises stack hungry string
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115 handling library calls. */
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116 #define mainBASIC_WEB_STACK_SIZE ( configMINIMAL_STACK_SIZE * 4 )
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118 /* The length of the queue used to send messages to the LCD task. */
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119 #define mainQUEUE_SIZE ( 3 )
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121 /* The period of the system clock in nano seconds. This is used to calculate
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122 the jitter time in nano seconds. */
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123 #define mainNS_PER_CLOCK ( ( unsigned long ) ( ( 1.0 / ( double ) configCPU_CLOCK_HZ ) * 1000000000.0 ) )
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125 /*-----------------------------------------------------------*/
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128 * Configure the hardware for the demo.
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130 static void prvSetupHardware( void );
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132 /* The 'check' task as described at the top of this file. */
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133 static void prvCheckTask( void *pvParameters );
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135 /*-----------------------------------------------------------*/
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143 /* Set up the clocks and memory interface. */
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144 prvSetupHardware();
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146 /* Start the standard demo tasks. These are just here to exercise the
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147 kernel port and provide examples of how the FreeRTOS API can be used. */
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148 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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149 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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150 vStartIntegerMathTasks( mainINTEGER_TASK_PRIORITY );
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151 vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
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152 vStartLEDFlashTasks( mainFLASH_TASK_PRIORITY );
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153 vStartQueuePeekTasks();
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154 vStartRecursiveMutexTasks();
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156 /* Create the 'check' task, which is defined within this file. */
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157 xTaskCreate( prvCheckTask, ( signed char * ) "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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159 /* Start the scheduler. */
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160 vTaskStartScheduler();
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162 /* Will only get here if there was insufficient memory to create the idle
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163 task. The idle task is created within vTaskStartScheduler(). */
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166 /*-----------------------------------------------------------*/
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168 static void prvCheckTask( void *pvParameters )
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170 portTickType xLastExecutionTime;
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171 unsigned long ulTicksToWait = mainCHECK_DELAY_NO_ERROR;
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173 /* Just to remove the compiler warning about the unused parameter. */
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174 ( void ) pvParameters;
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176 /* Initialise the variable used to control our iteration rate prior to
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178 xLastExecutionTime = xTaskGetTickCount();
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182 /* Wait until it is time to run the tests again. */
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183 vTaskDelayUntil( &xLastExecutionTime, ulTicksToWait );
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185 /* Has an error been found in any task? */
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186 if( xAreGenericQueueTasksStillRunning() != pdTRUE )
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188 /* Reduce the time between cycles of this task - which has the
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189 effect of increasing the rate at which the 'check' LED toggles to
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190 indicate the existence of an error to an observer. */
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191 ulTicksToWait = mainCHECK_DELAY_ERROR;
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193 else if( xAreQueuePeekTasksStillRunning() != pdTRUE )
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195 ulTicksToWait = mainCHECK_DELAY_ERROR;
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197 else if( xAreBlockingQueuesStillRunning() != pdTRUE )
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199 ulTicksToWait = mainCHECK_DELAY_ERROR;
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201 else if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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203 ulTicksToWait = mainCHECK_DELAY_ERROR;
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205 else if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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207 ulTicksToWait = mainCHECK_DELAY_ERROR;
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209 else if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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211 ulTicksToWait = mainCHECK_DELAY_ERROR;
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214 vParTestToggleLED( mainCHECK_LED );
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217 /*-----------------------------------------------------------*/
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219 static void prvSetupHardware( void )
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221 /* RCC system reset(for debug purpose). */
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225 RCC_HSEConfig (RCC_HSE_ON);
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227 /* Wait till HSE is ready. */
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228 while (RCC_GetFlagStatus(RCC_FLAG_HSERDY) == RESET);
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230 /* HCLK = SYSCLK. */
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231 RCC_HCLKConfig (RCC_SYSCLK_Div1);
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233 /* PCLK2 = HCLK. */
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234 RCC_PCLK2Config (RCC_HCLK_Div1);
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236 /* PCLK1 = HCLK/2. */
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237 RCC_PCLK1Config (RCC_HCLK_Div2);
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239 /* ADCCLK = PCLK2/4. */
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240 RCC_ADCCLKConfig (RCC_PCLK2_Div4);
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242 /* Flash 2 wait state. */
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243 *( volatile unsigned long * )0x40022000 = 0x01;
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245 /* PLLCLK = 8MHz * 9 = 72 MHz */
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246 RCC_PLLConfig (RCC_PLLSource_HSE_Div1, RCC_PLLMul_9);
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249 RCC_PLLCmd (ENABLE);
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251 /* Wait till PLL is ready. */
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252 while (RCC_GetFlagStatus(RCC_FLAG_PLLRDY) == RESET);
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254 /* Select PLL as system clock source. */
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255 RCC_SYSCLKConfig (RCC_SYSCLKSource_PLLCLK);
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257 /* Wait till PLL is used as system clock source. */
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258 while (RCC_GetSYSCLKSource() != 0x08);
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260 /* Enable GPIOA, GPIOB, GPIOC, GPIOD, GPIOE and AFIO clocks */
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261 RCC_APB2PeriphClockCmd( RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOB |RCC_APB2Periph_GPIOC
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262 | RCC_APB2Periph_GPIOD | RCC_APB2Periph_GPIOE | RCC_APB2Periph_AFIO, ENABLE );
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264 /* Set the Vector Table base address at 0x08000000. */
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265 NVIC_SetVectorTable( NVIC_VectTab_FLASH, 0x0 );
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267 NVIC_PriorityGroupConfig( NVIC_PriorityGroup_4 );
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269 /* Configure HCLK clock as SysTick clock source. */
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270 SysTick_CLKSourceConfig( SysTick_CLKSource_HCLK );
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272 /* Initialise the IO used for the LED outputs. */
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273 vParTestInitialise();
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275 /*-----------------------------------------------------------*/
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277 void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed char *pcTaskName )
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279 /* This function will get called if a task overflows its stack. If the
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280 parameters are corrupt then inspect pxCurrentTCB to find which was the
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284 ( void ) pcTaskName;
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288 /*-----------------------------------------------------------*/
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290 void assert_failed( unsigned char *pucFile, unsigned long ulLine )
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