2 FreeRTOS V7.1.1 - Copyright (C) 2012 Real Time Engineers Ltd.
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5 ***************************************************************************
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7 * FreeRTOS tutorial books are available in pdf and paperback. *
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8 * Complete, revised, and edited pdf reference manuals are also *
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11 * Purchasing FreeRTOS documentation will not only help you, by *
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12 * ensuring you get running as quickly as possible and with an *
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13 * in-depth knowledge of how to use FreeRTOS, it will also help *
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14 * the FreeRTOS project to continue with its mission of providing *
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15 * professional grade, cross platform, de facto standard solutions *
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16 * for microcontrollers - completely free of charge! *
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18 * >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
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20 * Thank you for using FreeRTOS, and thank you for your support! *
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22 ***************************************************************************
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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 modification to the GPL is included to allow you to
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31 distribute a combined work that includes FreeRTOS without being obliged to
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32 provide the source code for proprietary components outside of the FreeRTOS
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33 kernel. FreeRTOS is distributed in the hope that it will be useful, but
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34 WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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35 or 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 ***************************************************************************
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46 * Having a problem? Start by reading the FAQ "My application does *
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47 * not run, what could be wrong? *
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49 * http://www.FreeRTOS.org/FAQHelp.html *
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51 ***************************************************************************
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54 http://www.FreeRTOS.org - Documentation, training, latest information,
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55 license and contact details.
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57 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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58 including FreeRTOS+Trace - an indispensable productivity tool.
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60 Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell
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61 the code with commercial support, indemnification, and middleware, under
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62 the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also
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63 provide a safety engineered and independently SIL3 certified version under
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64 the SafeRTOS brand: http://www.SafeRTOS.com.
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68 NOTE : Tasks run in system mode and the scheduler runs in Supervisor mode.
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69 The processor MUST be in supervisor mode when vTaskStartScheduler is
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70 called. The demo applications included in the FreeRTOS.org download switch
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71 to supervisor mode prior to main being called. If you are not using one of
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72 these demo application projects then ensure Supervisor mode is used.
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77 * Creates all the application tasks, then starts the scheduler.
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79 * A task is created called "uIP". This executes the uIP stack and small
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80 * WEB server sample. All the other tasks are from the set of standard
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81 * demo tasks. The WEB documentation provides more details of the standard
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82 * demo application tasks.
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84 * Main.c also creates a task called "Check". This only executes every three
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85 * seconds but has the highest priority so is guaranteed to get processor time.
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86 * Its main function is to check that all the other tasks are still operational.
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87 * Each standard demo task maintains a unique count that is incremented each
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88 * time the task successfully completes its function. Should any error occur
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89 * within such a task the count is permanently halted. The check task inspects
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90 * the count of each task to ensure it has changed since the last time the
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91 * check task executed. If all the count variables have changed all the tasks
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92 * are still executing error free, and the check task toggles the yellow LED.
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93 * Should any task contain an error at any time the LED toggle rate will change
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94 * from 3 seconds to 500ms.
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99 /* Standard includes. */
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100 #include <stdlib.h>
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101 #include <string.h>
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103 /* Scheduler includes. */
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104 #include "FreeRTOS.h"
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107 /* Demo application includes. */
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109 #include "dynamic.h"
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110 #include "semtest.h"
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112 /*-----------------------------------------------------------*/
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114 /* Constants to setup the PLL. */
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115 #define mainPLL_MUL_4 ( ( unsigned char ) 0x0003 )
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116 #define mainPLL_DIV_1 ( ( unsigned char ) 0x0000 )
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117 #define mainPLL_ENABLE ( ( unsigned char ) 0x0001 )
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118 #define mainPLL_CONNECT ( ( unsigned char ) 0x0003 )
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119 #define mainPLL_FEED_BYTE1 ( ( unsigned char ) 0xaa )
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120 #define mainPLL_FEED_BYTE2 ( ( unsigned char ) 0x55 )
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121 #define mainPLL_LOCK ( ( unsigned long ) 0x0400 )
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123 /* Constants to setup the MAM. */
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124 #define mainMAM_TIM_3 ( ( unsigned char ) 0x03 )
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125 #define mainMAM_MODE_FULL ( ( unsigned char ) 0x02 )
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127 /* Constants to setup the peripheral bus. */
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128 #define mainBUS_CLK_FULL ( ( unsigned char ) 0x01 )
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130 /* Priorities/stacks for the demo application tasks. */
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131 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
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132 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 4 )
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133 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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134 #define mainUIP_PRIORITY ( tskIDLE_PRIORITY + 3 )
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135 #define mainUIP_TASK_STACK_SIZE ( 150 )
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137 /* The rate at which the on board LED will toggle when there is/is not an
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139 #define mainNO_ERROR_FLASH_PERIOD ( ( portTickType ) 3000 / portTICK_RATE_MS )
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140 #define mainERROR_FLASH_PERIOD ( ( portTickType ) 500 / portTICK_RATE_MS )
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141 #define mainON_BOARD_LED_BIT ( ( unsigned long ) 0x80 )
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142 #define mainYELLOW_LED ( 1 << 11 )
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144 /*-----------------------------------------------------------*/
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147 * This is the uIP task which is defined within the uip.c file. This has not
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148 * been placed into a header file in order to minimise the changes to the uip
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151 extern void ( vuIP_TASK ) ( void *pvParameters );
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154 * The Yellow LED is under the control of the Check task. All the other LED's
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155 * are under the control of the uIP task.
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157 void prvToggleOnBoardLED( void );
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160 * Checks that all the demo application tasks are still executing without error
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161 * - as described at the top of the file.
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163 static long prvCheckOtherTasksAreStillRunning( void );
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166 * The task that executes at the highest priority and calls
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167 * prvCheckOtherTasksAreStillRunning(). See the description at the top
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170 static void vErrorChecks( void *pvParameters );
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173 * Configure the processor for use with the Olimex demo board. This includes
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174 * setup for the I/O, system clock, and access timings.
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176 static void prvSetupHardware( void );
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178 /*-----------------------------------------------------------*/
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181 * Starts all the other tasks, then starts the scheduler.
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185 /* Configure the processor. */
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186 prvSetupHardware();
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188 /* Start the task that handles the TCP/IP functionality. */
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189 xTaskCreate( vuIP_TASK, "uIP", mainUIP_TASK_STACK_SIZE, NULL, mainUIP_PRIORITY, NULL );
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191 /* Start the demo/test application tasks. These are created in addition
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192 to the TCP/IP task for demonstration and test purposes. */
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193 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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194 vStartDynamicPriorityTasks();
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195 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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197 /* Start the check task - which is defined in this file. */
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198 xTaskCreate( vErrorChecks, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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200 /* Now all the tasks have been started - start the scheduler.
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202 NOTE : Tasks run in system mode and the scheduler runs in Supervisor mode.
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203 The processor MUST be in supervisor mode when vTaskStartScheduler is
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204 called. The demo applications included in the FreeRTOS.org download switch
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205 to supervisor mode prior to main being called. If you are not using one of
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206 these demo application projects then ensure Supervisor mode is used here. */
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207 vTaskStartScheduler();
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209 /* Should never reach here! */
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212 /*-----------------------------------------------------------*/
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214 static void vErrorChecks( void *pvParameters )
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216 portTickType xDelayPeriod = mainNO_ERROR_FLASH_PERIOD;
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218 /* Cycle for ever, delaying then checking all the other tasks are still
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219 operating without error. If an error is detected then the delay period
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220 is decreased from mainNO_ERROR_FLASH_PERIOD to mainERROR_FLASH_PERIOD so
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221 the on board LED flash rate will increase. */
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224 /* Delay until it is time to execute again. */
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225 vTaskDelay( xDelayPeriod );
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227 /* Check all the standard demo application tasks are executing without
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229 if( prvCheckOtherTasksAreStillRunning() != pdPASS )
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231 /* An error has been detected in one of the tasks - flash faster. */
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232 xDelayPeriod = mainERROR_FLASH_PERIOD;
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235 prvToggleOnBoardLED();
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238 /*-----------------------------------------------------------*/
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240 static void prvSetupHardware( void )
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242 #ifdef RUN_FROM_RAM
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243 /* Remap the interrupt vectors to RAM if we are are running from RAM. */
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247 /* Setup the PLL to multiply the XTAL input by 4. */
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248 SCB_PLLCFG = ( mainPLL_MUL_4 | mainPLL_DIV_1 );
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250 /* Activate the PLL by turning it on then feeding the correct sequence of
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252 SCB_PLLCON = mainPLL_ENABLE;
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253 SCB_PLLFEED = mainPLL_FEED_BYTE1;
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254 SCB_PLLFEED = mainPLL_FEED_BYTE2;
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256 /* Wait for the PLL to lock... */
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257 while( !( SCB_PLLSTAT & mainPLL_LOCK ) );
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259 /* ...before connecting it using the feed sequence again. */
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260 SCB_PLLCON = mainPLL_CONNECT;
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261 SCB_PLLFEED = mainPLL_FEED_BYTE1;
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262 SCB_PLLFEED = mainPLL_FEED_BYTE2;
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264 /* Setup and turn on the MAM. Three cycle access is used due to the fast
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265 PLL used. It is possible faster overall performance could be obtained by
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266 tuning the MAM and PLL settings. */
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267 MAM_TIM = mainMAM_TIM_3;
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268 MAM_CR = mainMAM_MODE_FULL;
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270 /* Setup the peripheral bus to be the same as the PLL output. */
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271 SCB_VPBDIV = mainBUS_CLK_FULL;
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273 /*-----------------------------------------------------------*/
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275 void prvToggleOnBoardLED( void )
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277 unsigned long ulState;
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279 ulState = GPIO0_IOPIN;
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280 if( ulState & mainYELLOW_LED )
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282 GPIO_IOCLR = mainYELLOW_LED;
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286 GPIO_IOSET = mainYELLOW_LED;
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289 /*-----------------------------------------------------------*/
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291 static long prvCheckOtherTasksAreStillRunning( void )
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293 long lReturn = ( long ) pdPASS;
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295 /* Check all the demo tasks (other than the flash tasks) to ensure
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296 that they are all still running, and that none of them have detected
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299 if( xArePollingQueuesStillRunning() != pdTRUE )
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301 lReturn = ( long ) pdFAIL;
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304 if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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306 lReturn = ( long ) pdFAIL;
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309 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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311 lReturn = ( long ) pdFAIL;
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