2 FreeRTOS V7.4.1 - Copyright (C) 2013 Real Time Engineers Ltd.
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4 FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME. PLEASE VISIT
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5 http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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7 ***************************************************************************
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9 * FreeRTOS tutorial books are available in pdf and paperback. *
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10 * Complete, revised, and edited pdf reference manuals are also *
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13 * Purchasing FreeRTOS documentation will not only help you, by *
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14 * ensuring you get running as quickly as possible and with an *
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15 * in-depth knowledge of how to use FreeRTOS, it will also help *
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16 * the FreeRTOS project to continue with its mission of providing *
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17 * professional grade, cross platform, de facto standard solutions *
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18 * for microcontrollers - completely free of charge! *
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20 * >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
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22 * Thank you for using FreeRTOS, and thank you for your support! *
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24 ***************************************************************************
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27 This file is part of the FreeRTOS distribution.
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29 FreeRTOS is free software; you can redistribute it and/or modify it under
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30 the terms of the GNU General Public License (version 2) as published by the
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31 Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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33 >>>>>>NOTE<<<<<< The modification to the GPL is included to allow you to
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34 distribute a combined work that includes FreeRTOS without being obliged to
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35 provide the source code for proprietary components outside of the FreeRTOS
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38 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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39 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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40 FOR A PARTICULAR PURPOSE. See the GNU General Public License for more
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41 details. You should have received a copy of the GNU General Public License
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42 and the FreeRTOS license exception along with FreeRTOS; if not it can be
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43 viewed here: http://www.freertos.org/a00114.html and also obtained by
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44 writing to Real Time Engineers Ltd., contact details for whom are available
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45 on the FreeRTOS WEB site.
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49 ***************************************************************************
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51 * Having a problem? Start by reading the FAQ "My application does *
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52 * not run, what could be wrong?" *
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54 * http://www.FreeRTOS.org/FAQHelp.html *
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56 ***************************************************************************
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59 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
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60 license and Real Time Engineers Ltd. contact details.
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62 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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63 including FreeRTOS+Trace - an indispensable productivity tool, and our new
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64 fully thread aware and reentrant UDP/IP stack.
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66 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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67 Integrity Systems, who sell the code with commercial support,
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68 indemnification and middleware, under the OpenRTOS brand.
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70 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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71 engineered and independently SIL3 certified version for use in safety and
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72 mission critical applications that require provable dependability.
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77 * Creates all the demo application tasks, then starts the scheduler. The WEB
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78 * documentation provides more details of the standard demo application tasks
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79 * (which just exist to test the kernel port and provide an example of how to use
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80 * each FreeRTOS API function).
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82 * In addition to the standard demo tasks, the following tasks and tests are
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83 * defined and/or created within this file:
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85 * "Check" hook - This only executes fully every five seconds from the tick
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86 * hook. Its main function is to check that all the standard demo tasks are
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87 * still operational. The status can be viewed using on the Task Stats page
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88 * served by the WEB server.
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90 * "uIP" task - This is the task that handles the uIP stack. All TCP/IP
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91 * processing is performed in this task.
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93 * "USB" task - Enumerates the USB device as a CDC class, then echoes back all
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94 * received characters with a configurable offset (for example, if the offset
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95 * is 1 and 'A' is received then 'B' will be sent back). A dumb terminal such
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96 * as Hyperterminal can be used to talk to the USB task.
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99 /* Scheduler includes. */
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100 #include "FreeRTOS.h"
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103 /* Demo app includes. */
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104 #include "BlockQ.h"
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105 #include "integer.h"
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106 #include "blocktim.h"
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108 #include "partest.h"
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109 #include "semtest.h"
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111 #include "GenQTest.h"
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113 #include "recmutex.h"
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115 /*-----------------------------------------------------------*/
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117 /* The time between cycles of the 'check' functionality (defined within the
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119 #define mainCHECK_DELAY ( ( portTickType ) 5000 / portTICK_RATE_MS )
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121 /* Task priorities. */
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122 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
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123 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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124 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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125 #define mainUIP_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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126 #define mainINTEGER_TASK_PRIORITY ( tskIDLE_PRIORITY )
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127 #define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )
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128 #define mainFLASH_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
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130 /* The WEB server has a larger stack as it utilises stack hungry string
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131 handling library calls. */
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132 #define mainBASIC_WEB_STACK_SIZE ( configMINIMAL_STACK_SIZE * 4 )
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134 /* The message displayed by the WEB server when all tasks are executing
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135 without an error being reported. */
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136 #define mainPASS_STATUS_MESSAGE "All tasks are executing without error."
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138 /*-----------------------------------------------------------*/
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141 * Configure the hardware for the demo.
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143 static void prvSetupHardware( void );
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146 * The task that handles the uIP stack. All TCP/IP processing is performed in
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149 extern void vuIP_Task( void *pvParameters );
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152 * The task that handles the USB stack.
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154 extern void vUSBTask( void *pvParameters );
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157 * Simply returns the current status message for display on served WEB pages.
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159 char *pcGetTaskStatusMessage( void );
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161 /*-----------------------------------------------------------*/
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163 /* Holds the status message displayed by the WEB server. */
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164 static char *pcStatusMessage = mainPASS_STATUS_MESSAGE;
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166 /*-----------------------------------------------------------*/
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170 /* Configure the hardware for use by this demo. */
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171 prvSetupHardware();
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173 /* Start the standard demo tasks. These are just here to exercise the
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174 kernel port and provide examples of how the FreeRTOS API can be used. */
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175 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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176 vCreateBlockTimeTasks();
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177 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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178 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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179 vStartIntegerMathTasks( mainINTEGER_TASK_PRIORITY );
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180 vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
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181 vStartQueuePeekTasks();
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182 vStartRecursiveMutexTasks();
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183 vStartLEDFlashTasks( mainFLASH_TASK_PRIORITY );
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185 /* Create the USB task. */
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186 xTaskCreate( vUSBTask, ( signed char * ) "USB", configMINIMAL_STACK_SIZE, ( void * ) NULL, tskIDLE_PRIORITY, NULL );
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188 /* Create the uIP task. The WEB server runs in this task. */
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189 xTaskCreate( vuIP_Task, ( signed char * ) "uIP", mainBASIC_WEB_STACK_SIZE, ( void * ) NULL, mainUIP_TASK_PRIORITY, NULL );
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191 /* Start the scheduler. */
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192 vTaskStartScheduler();
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194 /* Will only get here if there was insufficient memory to create the idle
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195 task. The idle task is created within vTaskStartScheduler(). */
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198 /*-----------------------------------------------------------*/
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200 void vApplicationTickHook( void )
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202 static unsigned long ulTicksSinceLastDisplay = 0;
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204 /* Called from every tick interrupt as described in the comments at the top
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207 Have enough ticks passed to make it time to perform our health status
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209 ulTicksSinceLastDisplay++;
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210 if( ulTicksSinceLastDisplay >= mainCHECK_DELAY )
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212 /* Reset the counter so these checks run again in mainCHECK_DELAY
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214 ulTicksSinceLastDisplay = 0;
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216 /* Has an error been found in any task? */
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217 if( xAreGenericQueueTasksStillRunning() != pdTRUE )
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219 pcStatusMessage = "An error has been detected in the Generic Queue test/demo.";
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221 else if( xAreQueuePeekTasksStillRunning() != pdTRUE )
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223 pcStatusMessage = "An error has been detected in the Peek Queue test/demo.";
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225 else if( xAreBlockingQueuesStillRunning() != pdTRUE )
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227 pcStatusMessage = "An error has been detected in the Block Queue test/demo.";
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229 else if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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231 pcStatusMessage = "An error has been detected in the Block Time test/demo.";
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233 else if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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235 pcStatusMessage = "An error has been detected in the Semaphore test/demo.";
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237 else if( xArePollingQueuesStillRunning() != pdTRUE )
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239 pcStatusMessage = "An error has been detected in the Poll Queue test/demo.";
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241 else if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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243 pcStatusMessage = "An error has been detected in the Int Math test/demo.";
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245 else if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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247 pcStatusMessage = "An error has been detected in the Mutex test/demo.";
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251 /*-----------------------------------------------------------*/
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253 char *pcGetTaskStatusMessage( void )
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255 /* Not bothered about a critical section here. */
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256 return pcStatusMessage;
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258 /*-----------------------------------------------------------*/
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260 void prvSetupHardware( void )
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262 /* Disable peripherals power. */
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265 /* Enable GPIO power. */
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266 SC->PCONP = PCONP_PCGPIO;
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268 /* Disable TPIU. */
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269 PINCON->PINSEL10 = 0;
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271 /* Setup the peripheral bus to be the same as the PLL output (64 MHz). */
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272 SC->PCLKSEL0 = 0x05555555;
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274 /* Configure the LEDs. */
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275 vParTestInitialise();
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277 /*-----------------------------------------------------------*/
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279 void vApplicationStackOverflowHook( xTaskHandle pxTask, signed char *pcTaskName )
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281 /* This function will get called if a task overflows its stack. */
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284 ( void ) pcTaskName;
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288 /*-----------------------------------------------------------*/
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290 void vConfigureTimerForRunTimeStats( void )
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292 const unsigned long TCR_COUNT_RESET = 2, CTCR_CTM_TIMER = 0x00, TCR_COUNT_ENABLE = 0x01;
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294 /* This function configures a timer that is used as the time base when
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295 collecting run time statistical information - basically the percentage
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296 of CPU time that each task is utilising. It is called automatically when
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297 the scheduler is started (assuming configGENERATE_RUN_TIME_STATS is set
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300 /* Power up and feed the timer. */
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301 SC->PCONP |= 0x02UL;
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302 SC->PCLKSEL0 = (SC->PCLKSEL0 & (~(0x3<<2))) | (0x01 << 2);
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304 /* Reset Timer 0 */
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305 TIM0->TCR = TCR_COUNT_RESET;
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307 /* Just count up. */
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308 TIM0->CTCR = CTCR_CTM_TIMER;
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310 /* Prescale to a frequency that is good enough to get a decent resolution,
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311 but not too fast so as to overflow all the time. */
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312 TIM0->PR = ( configCPU_CLOCK_HZ / 10000UL ) - 1UL;
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314 /* Start the counter. */
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315 TIM0->TCR = TCR_COUNT_ENABLE;
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317 /*-----------------------------------------------------------*/
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