2 FreeRTOS V8.0.0:rc1 - Copyright (C) 2014 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 ***************************************************************************
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9 * FreeRTOS provides completely free yet professionally developed, *
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10 * robust, strictly quality controlled, supported, and cross *
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11 * platform software that has become a de facto standard. *
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13 * Help yourself get started quickly and support the FreeRTOS *
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14 * project by purchasing a FreeRTOS tutorial book, reference *
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15 * manual, or both from: http://www.FreeRTOS.org/Documentation *
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19 ***************************************************************************
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21 This file is part of the FreeRTOS distribution.
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23 FreeRTOS is free software; you can redistribute it and/or modify it under
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24 the terms of the GNU General Public License (version 2) as published by the
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25 Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
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27 >>! NOTE: The modification to the GPL is included to allow you to distribute
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28 >>! a combined work that includes FreeRTOS without being obliged to provide
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29 >>! the source code for proprietary components outside of the FreeRTOS
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32 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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33 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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34 FOR A PARTICULAR PURPOSE. Full license text is available from the following
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35 link: http://www.freertos.org/a00114.html
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39 ***************************************************************************
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41 * Having a problem? Start by reading the FAQ "My application does *
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42 * not run, what could be wrong?" *
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44 * http://www.FreeRTOS.org/FAQHelp.html *
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46 ***************************************************************************
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48 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
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49 license and Real Time Engineers Ltd. contact details.
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51 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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52 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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53 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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55 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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56 Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS
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57 licenses offer ticketed support, indemnification and middleware.
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59 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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60 engineered and independently SIL3 certified version for use in safety and
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61 mission critical applications that require provable dependability.
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68 * Creates all the demo application tasks, then starts the scheduler. The WEB
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69 * documentation provides more details of the standard demo application tasks
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70 * (which just exist to test the kernel port and provide an example of how to use
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71 * each FreeRTOS API function).
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73 * In addition to the standard demo tasks, the following tasks and tests are
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74 * defined and/or created within this file:
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76 * "Check" hook - This only executes fully every five seconds from the tick
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77 * hook. Its main function is to check that all the standard demo tasks are
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78 * still operational. The status can be viewed using on the Task Stats page
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79 * served by the WEB server.
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81 * "uIP" task - This is the task that handles the uIP stack. All TCP/IP
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82 * processing is performed in this task.
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84 * "USB" task - Enumerates the USB device as a CDC class, then echoes back all
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85 * received characters with a configurable offset (for example, if the offset
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86 * is 1 and 'A' is received then 'B' will be sent back). A dumb terminal such
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87 * as Hyperterminal can be used to talk to the USB task.
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90 /* Scheduler includes. */
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91 #include "FreeRTOS.h"
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94 /* Demo app includes. */
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96 #include "integer.h"
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97 #include "blocktim.h"
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99 #include "partest.h"
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100 #include "semtest.h"
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102 #include "GenQTest.h"
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104 #include "recmutex.h"
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106 /*-----------------------------------------------------------*/
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108 /* The time between cycles of the 'check' functionality (defined within the
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110 #define mainCHECK_DELAY ( ( TickType_t ) 5000 / portTICK_PERIOD_MS )
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112 /* The toggle rate for the LED. */
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113 #define mainLED_TOGGLE_RATE ( ( TickType_t ) 1000 / portTICK_PERIOD_MS )
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115 /* Task priorities. */
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116 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
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117 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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118 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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119 #define mainUIP_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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120 #define mainFLASH_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
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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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124 /* The WEB server has a larger stack as it utilises stack hungry string
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125 handling library calls. */
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126 #define mainBASIC_WEB_STACK_SIZE ( configMINIMAL_STACK_SIZE * 4 )
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128 /* The message displayed by the WEB server when all tasks are executing
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129 without an error being reported. */
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130 #define mainPASS_STATUS_MESSAGE "All tasks are executing without error."
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132 /*-----------------------------------------------------------*/
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135 * Configure the hardware for the demo.
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137 static void prvSetupHardware( void );
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140 * The task that handles the uIP stack. All TCP/IP processing is performed in
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143 extern void vuIP_Task( void *pvParameters );
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146 * The task that handles the USB stack.
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148 extern void vUSBTask( void *pvParameters );
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151 * Very basic task that does nothing but use delays to flash an LED.
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153 static void prvFlashTask( void *pvParameters );
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156 * Simply returns the current status message for display on served WEB pages.
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158 char *pcGetTaskStatusMessage( void );
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160 /*-----------------------------------------------------------*/
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162 /* Holds the status message displayed by the WEB server. */
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163 static char *pcStatusMessage = mainPASS_STATUS_MESSAGE;
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165 /*-----------------------------------------------------------*/
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169 /* Configure the hardware for use by this demo. */
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170 prvSetupHardware();
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172 /* Start the standard demo tasks. These are just here to exercise the
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173 kernel port and provide examples of how the FreeRTOS API can be used. */
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174 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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175 vCreateBlockTimeTasks();
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176 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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177 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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178 vStartIntegerMathTasks( mainINTEGER_TASK_PRIORITY );
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179 vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
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180 vStartQueuePeekTasks();
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181 vStartRecursiveMutexTasks();
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183 /* Create the simple LED flash task. */
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184 xTaskCreate( prvFlashTask, "Flash", configMINIMAL_STACK_SIZE, ( void * ) NULL, mainFLASH_TASK_PRIORITY, NULL );
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186 /* Create the USB task. */
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187 xTaskCreate( vUSBTask, "USB", configMINIMAL_STACK_SIZE, ( void * ) NULL, tskIDLE_PRIORITY, NULL );
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189 /* Create the uIP task. The WEB server runs in this task. */
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190 xTaskCreate( vuIP_Task, "uIP", mainBASIC_WEB_STACK_SIZE, ( void * ) NULL, mainUIP_TASK_PRIORITY, NULL );
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192 /* Start the scheduler. */
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193 vTaskStartScheduler();
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195 /* Will only get here if there was insufficient memory to create the idle
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196 task. The idle task is created within vTaskStartScheduler(). */
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199 /*-----------------------------------------------------------*/
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201 void vApplicationTickHook( void )
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203 static unsigned long ulTicksSinceLastDisplay = 0;
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205 /* Called from every tick interrupt as described in the comments at the top
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208 Have enough ticks passed to make it time to perform our health status
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210 ulTicksSinceLastDisplay++;
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211 if( ulTicksSinceLastDisplay >= mainCHECK_DELAY )
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213 /* Reset the counter so these checks run again in mainCHECK_DELAY
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215 ulTicksSinceLastDisplay = 0;
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217 /* Has an error been found in any task? */
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218 if( xAreGenericQueueTasksStillRunning() != pdTRUE )
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220 pcStatusMessage = "An error has been detected in the Generic Queue test/demo.";
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222 else if( xAreQueuePeekTasksStillRunning() != pdTRUE )
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224 pcStatusMessage = "An error has been detected in the Peek Queue test/demo.";
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226 else if( xAreBlockingQueuesStillRunning() != pdTRUE )
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228 pcStatusMessage = "An error has been detected in the Block Queue test/demo.";
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230 else if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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232 pcStatusMessage = "An error has been detected in the Block Time test/demo.";
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234 else if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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236 pcStatusMessage = "An error has been detected in the Semaphore test/demo.";
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238 else if( xArePollingQueuesStillRunning() != pdTRUE )
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240 pcStatusMessage = "An error has been detected in the Poll Queue test/demo.";
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242 else if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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244 pcStatusMessage = "An error has been detected in the Int Math test/demo.";
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246 else if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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248 pcStatusMessage = "An error has been detected in the Mutex test/demo.";
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252 /*-----------------------------------------------------------*/
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254 static void prvFlashTask( void *pvParameters )
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256 TickType_t xLastFlashTime;
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258 /* We need to initialise xLastFlashTime prior to the first call to
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259 vTaskDelayUntil(). */
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260 xLastFlashTime = xTaskGetTickCount();
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264 /* Simply toggle the LED between delays. */
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265 vTaskDelayUntil( &xLastFlashTime, mainLED_TOGGLE_RATE );
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266 vParTestToggleLED( 0 );
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269 /*-----------------------------------------------------------*/
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271 char *pcGetTaskStatusMessage( void )
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273 /* Not bothered about a critical section here. */
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274 return pcStatusMessage;
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276 /*-----------------------------------------------------------*/
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278 void prvSetupHardware( void )
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280 /* Disable peripherals power. */
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283 /* Enable GPIO power. */
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284 SC->PCONP = PCONP_PCGPIO;
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286 /* Disable TPIU. */
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287 PINCON->PINSEL10 = 0;
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289 if ( SC->PLL0STAT & ( 1 << 25 ) )
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291 /* Enable PLL, disconnected. */
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293 SC->PLL0FEED = PLLFEED_FEED1;
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294 SC->PLL0FEED = PLLFEED_FEED2;
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297 /* Disable PLL, disconnected. */
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299 SC->PLL0FEED = PLLFEED_FEED1;
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300 SC->PLL0FEED = PLLFEED_FEED2;
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302 /* Enable main OSC. */
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304 while( !( SC->SCS & 0x40 ) );
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306 /* select main OSC, 12MHz, as the PLL clock source. */
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307 SC->CLKSRCSEL = 0x1;
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309 SC->PLL0CFG = 0x20031;
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310 SC->PLL0FEED = PLLFEED_FEED1;
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311 SC->PLL0FEED = PLLFEED_FEED2;
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313 /* Enable PLL, disconnected. */
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315 SC->PLL0FEED = PLLFEED_FEED1;
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316 SC->PLL0FEED = PLLFEED_FEED2;
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318 /* Set clock divider. */
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319 SC->CCLKCFG = 0x03;
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321 /* Configure flash accelerator. */
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322 SC->FLASHCFG = 0x403a;
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324 /* Check lock bit status. */
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325 while( ( ( SC->PLL0STAT & ( 1 << 26 ) ) == 0 ) );
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327 /* Enable and connect. */
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329 SC->PLL0FEED = PLLFEED_FEED1;
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330 SC->PLL0FEED = PLLFEED_FEED2;
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331 while( ( ( SC->PLL0STAT & ( 1 << 25 ) ) == 0 ) );
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336 /* Configure the clock for the USB. */
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338 if( SC->PLL1STAT & ( 1 << 9 ) )
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340 /* Enable PLL, disconnected. */
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342 SC->PLL1FEED = PLLFEED_FEED1;
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343 SC->PLL1FEED = PLLFEED_FEED2;
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346 /* Disable PLL, disconnected. */
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348 SC->PLL1FEED = PLLFEED_FEED1;
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349 SC->PLL1FEED = PLLFEED_FEED2;
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351 SC->PLL1CFG = 0x23;
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352 SC->PLL1FEED = PLLFEED_FEED1;
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353 SC->PLL1FEED = PLLFEED_FEED2;
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355 /* Enable PLL, disconnected. */
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357 SC->PLL1FEED = PLLFEED_FEED1;
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358 SC->PLL1FEED = PLLFEED_FEED2;
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359 while( ( ( SC->PLL1STAT & ( 1 << 10 ) ) == 0 ) );
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361 /* Enable and connect. */
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363 SC->PLL1FEED = PLLFEED_FEED1;
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364 SC->PLL1FEED = PLLFEED_FEED2;
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365 while( ( ( SC->PLL1STAT & ( 1 << 9 ) ) == 0 ) );
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367 /* Setup the peripheral bus to be the same as the PLL output (64 MHz). */
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368 SC->PCLKSEL0 = 0x05555555;
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370 /* Configure the LEDs. */
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371 vParTestInitialise();
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373 /*-----------------------------------------------------------*/
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375 void vApplicationStackOverflowHook( TaskHandle_t pxTask, char *pcTaskName )
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377 /* This function will get called if a task overflows its stack. */
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380 ( void ) pcTaskName;
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384 /*-----------------------------------------------------------*/
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386 void vConfigureTimerForRunTimeStats( void )
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388 const unsigned long TCR_COUNT_RESET = 2, CTCR_CTM_TIMER = 0x00, TCR_COUNT_ENABLE = 0x01;
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390 /* This function configures a timer that is used as the time base when
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391 collecting run time statistical information - basically the percentage
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392 of CPU time that each task is utilising. It is called automatically when
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393 the scheduler is started (assuming configGENERATE_RUN_TIME_STATS is set
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396 /* Power up and feed the timer. */
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397 SC->PCONP |= 0x02UL;
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398 SC->PCLKSEL0 = (SC->PCLKSEL0 & (~(0x3<<2))) | (0x01 << 2);
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400 /* Reset Timer 0 */
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401 TIM0->TCR = TCR_COUNT_RESET;
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403 /* Just count up. */
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404 TIM0->CTCR = CTCR_CTM_TIMER;
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406 /* Prescale to a frequency that is good enough to get a decent resolution,
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407 but not too fast so as to overflow all the time. */
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408 TIM0->PR = ( configCPU_CLOCK_HZ / 10000UL ) - 1UL;
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410 /* Start the counter. */
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411 TIM0->TCR = TCR_COUNT_ENABLE;
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413 /*-----------------------------------------------------------*/
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