2 FreeRTOS V6.1.1 - Copyright (C) 2011 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 books - available as PDF or paperback *
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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 3 (PB11) 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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71 * "Echo" task - This is a very basic task that simply echoes any characters
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72 * received on COM0 (USART1). This can be tested by transmitting a text file
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73 * from a dumb terminal to the STM32 USART then observing or capturing the text
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74 * that is echoed back. Missing characters will be all the more obvious if the
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75 * file contains a simple repeating string of fixed width.
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77 * Currently this demo does not include interrupt nesting examples. High
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78 * frequency timer and simpler nesting examples can be found in most Cortex-M3
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79 * demo applications.
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81 * The functions used to initialise, set and clear LED outputs are normally
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82 * defined in partest.c. This demo includes two partest files, one that is
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83 * configured for use with the Keil MCBSTM32 evaluation board (called
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84 * ParTest_MCBSTM32.c) and one that is configured for use with the official
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85 * ST Eval board (called ParTest_ST_Eval.c). One one of these files should be
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86 * included in the build at any one time, as appropriate for the hardware
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87 * actually being used.
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90 /* Standard includes. */
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93 /* Scheduler includes. */
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94 #include "FreeRTOS.h"
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98 /* Library includes. */
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99 #include "stm32f10x_it.h"
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101 /* Demo app includes. */
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102 #include "BlockQ.h"
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103 #include "integer.h"
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105 #include "partest.h"
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106 #include "semtest.h"
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107 #include "GenQTest.h"
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109 #include "recmutex.h"
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111 /* Driver includes. */
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112 #include "STM32_USART.h"
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115 /* The time between cycles of the 'check' task - which depends on whether the
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116 check task has detected an error or not. */
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117 #define mainCHECK_DELAY_NO_ERROR ( ( portTickType ) 5000 / portTICK_RATE_MS )
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118 #define mainCHECK_DELAY_ERROR ( ( portTickType ) 500 / portTICK_RATE_MS )
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120 /* The LED controlled by the 'check' task. */
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121 #define mainCHECK_LED ( 3 )
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123 /* Task priorities. */
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124 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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125 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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126 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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127 #define mainFLASH_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
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128 #define mainECHO_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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129 #define mainINTEGER_TASK_PRIORITY ( tskIDLE_PRIORITY )
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130 #define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )
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132 /* COM port and baud rate used by the echo task. */
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133 #define mainCOM0 ( 0 )
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134 #define mainBAUD_RATE ( 115200 )
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136 /*-----------------------------------------------------------*/
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139 * Configure the hardware for the demo.
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141 static void prvSetupHardware( void );
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143 /* The 'check' task as described at the top of this file. */
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144 static void prvCheckTask( void *pvParameters );
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146 /* A simple task that echoes all the characters that are received on COM0
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148 static void prvUSARTEchoTask( void *pvParameters );
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150 /*-----------------------------------------------------------*/
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158 /* Set up the clocks and memory interface. */
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159 prvSetupHardware();
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161 /* Start the standard demo tasks. These are just here to exercise the
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162 kernel port and provide examples of how the FreeRTOS API can be used. */
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163 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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164 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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165 vStartIntegerMathTasks( mainINTEGER_TASK_PRIORITY );
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166 vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
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167 vStartLEDFlashTasks( mainFLASH_TASK_PRIORITY );
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168 vStartQueuePeekTasks();
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169 vStartRecursiveMutexTasks();
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171 /* Create the 'echo' task, which is also defined within this file. */
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172 xTaskCreate( prvUSARTEchoTask, ( signed char * ) "Echo", configMINIMAL_STACK_SIZE, NULL, mainECHO_TASK_PRIORITY, NULL );
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174 /* Create the 'check' task, which is also defined within this file. */
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175 xTaskCreate( prvCheckTask, ( signed char * ) "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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177 /* Start the scheduler. */
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178 vTaskStartScheduler();
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180 /* Will only get here if there was insufficient memory to create the idle
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181 task. The idle task is created within vTaskStartScheduler(). */
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184 /*-----------------------------------------------------------*/
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186 /* Described at the top of this file. */
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187 static void prvCheckTask( void *pvParameters )
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189 portTickType xLastExecutionTime;
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190 unsigned long ulTicksToWait = mainCHECK_DELAY_NO_ERROR;
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192 /* Just to remove the compiler warning about the unused parameter. */
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193 ( void ) pvParameters;
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195 /* Initialise the variable used to control our iteration rate prior to
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197 xLastExecutionTime = xTaskGetTickCount();
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201 /* Wait until it is time to run the tests again. */
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202 vTaskDelayUntil( &xLastExecutionTime, ulTicksToWait );
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204 /* Has an error been found in any task? */
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205 if( xAreGenericQueueTasksStillRunning() != pdTRUE )
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207 /* Reduce the time between cycles of this task - which has the
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208 effect of increasing the rate at which the 'check' LED toggles to
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209 indicate the existence of an error to an observer. */
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210 ulTicksToWait = mainCHECK_DELAY_ERROR;
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212 else if( xAreQueuePeekTasksStillRunning() != pdTRUE )
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214 ulTicksToWait = mainCHECK_DELAY_ERROR;
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216 else if( xAreBlockingQueuesStillRunning() != pdTRUE )
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218 ulTicksToWait = mainCHECK_DELAY_ERROR;
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220 else if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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222 ulTicksToWait = mainCHECK_DELAY_ERROR;
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224 else if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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226 ulTicksToWait = mainCHECK_DELAY_ERROR;
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228 else if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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230 ulTicksToWait = mainCHECK_DELAY_ERROR;
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233 vParTestToggleLED( mainCHECK_LED );
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236 /*-----------------------------------------------------------*/
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238 /* Described at the top of this file. */
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239 static void prvUSARTEchoTask( void *pvParameters )
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243 /* String declared static to ensure it does not end up on the stack, no matter
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244 what the optimisation level. */
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245 static const char *pcLongishString =
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246 "ABBA was a Swedish pop music group formed in Stockholm in 1972, consisting of Anni-Frid Frida Lyngstad, "
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247 "Björn Ulvaeus, Benny Andersson and Agnetha Fältskog. Throughout the band's existence, Fältskog and Ulvaeus "
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248 "were a married couple, as were Lyngstad and Andersson - although both couples later divorced. They became one "
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249 "of the most commercially successful acts in the history of popular music, and they topped the charts worldwide "
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250 "from 1972 to 1983. ABBA gained international popularity employing catchy song hooks, simple lyrics, sound "
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251 "effects (reverb, phasing) and a Wall of Sound achieved by overdubbing the female singers' voices in multiple "
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252 "harmonies. As their popularity grew, they were sought after to tour Europe, Australia, and North America, drawing "
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253 "crowds of ardent fans, notably in Australia. Touring became a contentious issue, being particularly cumbersome for "
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254 "Fältskog, but they continued to release studio albums to widespread commercial success. At the height of their "
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255 "popularity, however, both relationships began suffering strain that led ultimately to the collapse of first the "
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256 "Ulvaeus-Fältskog marriage (in 1979) and then of the Andersson-Lyngstad marriage in 1981. In the late 1970s and early "
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257 "1980s these relationship changes began manifesting in the group's music, as they produced more thoughtful, "
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258 "introspective lyrics with different compositions.";
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260 /* Just to avoid compiler warnings. */
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261 ( void ) pvParameters;
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263 /* Initialise COM0, which is USART1 according to the STM32 libraries. */
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264 lCOMPortInit( mainCOM0, mainBAUD_RATE );
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266 /* Try sending out a string all in one go, as a very basic test of the
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267 lSerialPutString() function. */
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268 lSerialPutString( mainCOM0, pcLongishString, strlen( pcLongishString ) );
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272 /* Block to wait for a character to be received on COM0. */
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273 xSerialGetChar( mainCOM0, &cChar, portMAX_DELAY );
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275 /* Write the received character back to COM0. */
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276 xSerialPutChar( mainCOM0, cChar, 0 );
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279 /*-----------------------------------------------------------*/
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281 static void prvSetupHardware( void )
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283 /* RCC system reset(for debug purpose). */
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287 RCC_HSEConfig( RCC_HSE_ON );
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289 /* Wait till HSE is ready. */
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290 while (RCC_GetFlagStatus(RCC_FLAG_HSERDY) == RESET);
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292 /* HCLK = SYSCLK. */
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293 RCC_HCLKConfig( RCC_SYSCLK_Div1 );
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295 /* PCLK2 = HCLK. */
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296 RCC_PCLK2Config( RCC_HCLK_Div1 );
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298 /* PCLK1 = HCLK/2. */
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299 RCC_PCLK1Config( RCC_HCLK_Div2 );
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301 /* ADCCLK = PCLK2/4. */
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302 RCC_ADCCLKConfig( RCC_PCLK2_Div4 );
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304 /* Flash 2 wait state. */
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305 *( volatile unsigned long * )0x40022000 = 0x01;
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307 /* PLLCLK = 8MHz * 9 = 72 MHz */
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308 RCC_PLLConfig( RCC_PLLSource_HSE_Div1, RCC_PLLMul_9 );
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311 RCC_PLLCmd( ENABLE );
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313 /* Wait till PLL is ready. */
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314 while (RCC_GetFlagStatus(RCC_FLAG_PLLRDY) == RESET);
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316 /* Select PLL as system clock source. */
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317 RCC_SYSCLKConfig (RCC_SYSCLKSource_PLLCLK);
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319 /* Wait till PLL is used as system clock source. */
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320 while (RCC_GetSYSCLKSource() != 0x08);
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322 /* Enable GPIOA, GPIOB, GPIOC, GPIOD, GPIOE and AFIO clocks */
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323 RCC_APB2PeriphClockCmd( RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOB |RCC_APB2Periph_GPIOC
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324 | RCC_APB2Periph_GPIOD | RCC_APB2Periph_GPIOE | RCC_APB2Periph_AFIO, ENABLE );
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326 /* Set the Vector Table base address at 0x08000000. */
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327 NVIC_SetVectorTable( NVIC_VectTab_FLASH, 0x0 );
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329 NVIC_PriorityGroupConfig( NVIC_PriorityGroup_4 );
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331 /* Configure HCLK clock as SysTick clock source. */
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332 SysTick_CLKSourceConfig( SysTick_CLKSource_HCLK );
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334 /* Initialise the IO used for the LED outputs. */
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335 vParTestInitialise();
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337 /* SPI2 Periph clock enable */
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338 RCC_APB1PeriphClockCmd( RCC_APB1Periph_SPI2, ENABLE );
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340 /*-----------------------------------------------------------*/
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342 void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed char *pcTaskName )
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344 /* This function will get called if a task overflows its stack. If the
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345 parameters are corrupt then inspect pxCurrentTCB to find which was the
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349 ( void ) pcTaskName;
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353 /*-----------------------------------------------------------*/
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355 void assert_failed( unsigned char *pucFile, unsigned long ulLine )
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