2 FreeRTOS V8.2.2 - Copyright (C) 2015 Real Time Engineers Ltd.
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5 VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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7 This file is part of the FreeRTOS distribution.
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9 FreeRTOS is free software; you can redistribute it and/or modify it under
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10 the terms of the GNU General Public License (version 2) as published by the
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11 Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
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13 ***************************************************************************
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14 >>! NOTE: The modification to the GPL is included to allow you to !<<
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15 >>! distribute a combined work that includes FreeRTOS without being !<<
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16 >>! obliged to provide the source code for proprietary components !<<
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17 >>! outside of the FreeRTOS kernel. !<<
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18 ***************************************************************************
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20 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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21 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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22 FOR A PARTICULAR PURPOSE. Full license text is available on the following
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23 link: http://www.freertos.org/a00114.html
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25 ***************************************************************************
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27 * FreeRTOS provides completely free yet professionally developed, *
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28 * robust, strictly quality controlled, supported, and cross *
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29 * platform software that is more than just the market leader, it *
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30 * is the industry's de facto standard. *
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32 * Help yourself get started quickly while simultaneously helping *
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33 * to support the FreeRTOS project by purchasing a FreeRTOS *
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34 * tutorial book, reference manual, or both: *
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35 * http://www.FreeRTOS.org/Documentation *
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37 ***************************************************************************
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39 http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
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40 the FAQ page "My application does not run, what could be wrong?". Have you
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41 defined configASSERT()?
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43 http://www.FreeRTOS.org/support - In return for receiving this top quality
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44 embedded software for free we request you assist our global community by
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45 participating in the support forum.
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47 http://www.FreeRTOS.org/training - Investing in training allows your team to
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48 be as productive as possible as early as possible. Now you can receive
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49 FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
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50 Ltd, and the world's leading authority on the world's leading RTOS.
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52 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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53 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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54 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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56 http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
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57 Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
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59 http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
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60 Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
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61 licenses offer ticketed support, indemnification and commercial middleware.
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63 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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64 engineered and independently SIL3 certified version for use in safety and
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65 mission critical applications that require provable dependability.
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72 * Creates all the demo application tasks, then starts the scheduler. The WEB
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73 * documentation provides more details of the standard demo application tasks
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74 * (which just exist to test the kernel port and provide an example of how to use
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75 * each FreeRTOS API function).
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77 * In addition to the standard demo tasks, the following tasks and tests are
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78 * defined and/or created within this file:
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80 * "Check" hook - This only executes fully every five seconds from the tick
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81 * hook. Its main function is to check that all the standard demo tasks are
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82 * still operational. The status can be viewed using on the Task Stats page
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83 * served by the WEB server.
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85 * "uIP" task - This is the task that handles the uIP stack. All TCP/IP
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86 * processing is performed in this task.
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88 * "USB" task - Enumerates the USB device as a CDC class, then echoes back all
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89 * received characters with a configurable offset (for example, if the offset
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90 * is 1 and 'A' is received then 'B' will be sent back). A dumb terminal such
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91 * as Hyperterminal can be used to talk to the USB task.
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94 /* Scheduler includes. */
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95 #include "FreeRTOS.h"
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98 /* Demo app includes. */
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100 #include "integer.h"
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101 #include "blocktim.h"
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103 #include "partest.h"
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104 #include "semtest.h"
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106 #include "GenQTest.h"
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108 #include "recmutex.h"
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110 /*-----------------------------------------------------------*/
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112 /* The time between cycles of the 'check' functionality (defined within the
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114 #define mainCHECK_DELAY ( ( TickType_t ) 5000 / portTICK_PERIOD_MS )
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116 /* Task priorities. */
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117 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
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118 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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119 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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120 #define mainUIP_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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121 #define mainINTEGER_TASK_PRIORITY ( tskIDLE_PRIORITY )
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122 #define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )
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123 #define mainFLASH_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
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125 /* The WEB server has a larger stack as it utilises stack hungry string
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126 handling library calls. */
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127 #define mainBASIC_WEB_STACK_SIZE ( configMINIMAL_STACK_SIZE * 4 )
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129 /* The message displayed by the WEB server when all tasks are executing
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130 without an error being reported. */
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131 #define mainPASS_STATUS_MESSAGE "All tasks are executing without error."
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133 /*-----------------------------------------------------------*/
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136 * Configure the hardware for the demo.
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138 static void prvSetupHardware( void );
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141 * The task that handles the uIP stack. All TCP/IP processing is performed in
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144 extern void vuIP_Task( void *pvParameters );
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147 * The task that handles the USB stack.
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149 extern void vUSBTask( void *pvParameters );
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152 * Simply returns the current status message for display on served WEB pages.
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154 char *pcGetTaskStatusMessage( void );
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156 /*-----------------------------------------------------------*/
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158 /* Holds the status message displayed by the WEB server. */
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159 static char *pcStatusMessage = mainPASS_STATUS_MESSAGE;
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161 /*-----------------------------------------------------------*/
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165 /* Configure the hardware for use by this demo. */
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166 prvSetupHardware();
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168 /* Start the standard demo tasks. These are just here to exercise the
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169 kernel port and provide examples of how the FreeRTOS API can be used. */
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170 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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171 vCreateBlockTimeTasks();
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172 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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173 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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174 vStartIntegerMathTasks( mainINTEGER_TASK_PRIORITY );
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175 vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
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176 vStartQueuePeekTasks();
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177 vStartRecursiveMutexTasks();
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178 vStartLEDFlashTasks( mainFLASH_TASK_PRIORITY );
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180 /* Create the USB task. */
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181 xTaskCreate( vUSBTask, "USB", configMINIMAL_STACK_SIZE, ( void * ) NULL, tskIDLE_PRIORITY, NULL );
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183 /* Create the uIP task. The WEB server runs in this task. */
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184 xTaskCreate( vuIP_Task, "uIP", mainBASIC_WEB_STACK_SIZE, ( void * ) NULL, mainUIP_TASK_PRIORITY, NULL );
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186 /* Start the scheduler. */
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187 vTaskStartScheduler();
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189 /* Will only get here if there was insufficient memory to create the idle
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190 task. The idle task is created within vTaskStartScheduler(). */
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193 /*-----------------------------------------------------------*/
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195 void vApplicationTickHook( void )
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197 static unsigned long ulTicksSinceLastDisplay = 0;
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199 /* Called from every tick interrupt as described in the comments at the top
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202 Have enough ticks passed to make it time to perform our health status
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204 ulTicksSinceLastDisplay++;
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205 if( ulTicksSinceLastDisplay >= mainCHECK_DELAY )
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207 /* Reset the counter so these checks run again in mainCHECK_DELAY
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209 ulTicksSinceLastDisplay = 0;
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211 /* Has an error been found in any task? */
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212 if( xAreGenericQueueTasksStillRunning() != pdTRUE )
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214 pcStatusMessage = "An error has been detected in the Generic Queue test/demo.";
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216 else if( xAreQueuePeekTasksStillRunning() != pdTRUE )
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218 pcStatusMessage = "An error has been detected in the Peek Queue test/demo.";
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220 else if( xAreBlockingQueuesStillRunning() != pdTRUE )
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222 pcStatusMessage = "An error has been detected in the Block Queue test/demo.";
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224 else if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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226 pcStatusMessage = "An error has been detected in the Block Time test/demo.";
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228 else if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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230 pcStatusMessage = "An error has been detected in the Semaphore test/demo.";
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232 else if( xArePollingQueuesStillRunning() != pdTRUE )
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234 pcStatusMessage = "An error has been detected in the Poll Queue test/demo.";
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236 else if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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238 pcStatusMessage = "An error has been detected in the Int Math test/demo.";
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240 else if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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242 pcStatusMessage = "An error has been detected in the Mutex test/demo.";
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246 /*-----------------------------------------------------------*/
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248 char *pcGetTaskStatusMessage( void )
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250 /* Not bothered about a critical section here. */
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251 return pcStatusMessage;
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253 /*-----------------------------------------------------------*/
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255 void prvSetupHardware( void )
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257 /* Disable peripherals power. */
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260 /* Enable GPIO power. */
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261 SC->PCONP = PCONP_PCGPIO;
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263 /* Disable TPIU. */
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264 PINCON->PINSEL10 = 0;
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266 /* Setup the peripheral bus to be the same as the CPU output (100 MHz). */
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267 SC->PCLKSEL0 = 0x05555555;
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269 /* Configure the LEDs. */
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270 vParTestInitialise();
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272 /*-----------------------------------------------------------*/
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274 void vApplicationStackOverflowHook( TaskHandle_t pxTask, char *pcTaskName )
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276 /* This function will get called if a task overflows its stack. */
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279 ( void ) pcTaskName;
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283 /*-----------------------------------------------------------*/
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285 void vConfigureTimerForRunTimeStats( void )
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287 const unsigned long TCR_COUNT_RESET = 2, CTCR_CTM_TIMER = 0x00, TCR_COUNT_ENABLE = 0x01;
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289 /* This function configures a timer that is used as the time base when
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290 collecting run time statistical information - basically the percentage
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291 of CPU time that each task is utilising. It is called automatically when
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292 the scheduler is started (assuming configGENERATE_RUN_TIME_STATS is set
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295 /* Power up and feed the timer. */
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296 SC->PCONP |= 0x02UL;
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297 SC->PCLKSEL0 = (SC->PCLKSEL0 & (~(0x3<<2))) | (0x01 << 2);
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299 /* Reset Timer 0 */
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300 TIM0->TCR = TCR_COUNT_RESET;
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302 /* Just count up. */
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303 TIM0->CTCR = CTCR_CTM_TIMER;
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305 /* Prescale to a frequency that is good enough to get a decent resolution,
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306 but not too fast so as to overflow all the time. */
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307 TIM0->PR = ( configCPU_CLOCK_HZ / 10000UL ) - 1UL;
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309 /* Start the counter. */
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310 TIM0->TCR = TCR_COUNT_ENABLE;
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312 /*-----------------------------------------------------------*/
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