2 FreeRTOS V7.5.1 - Copyright (C) 2013 Real Time Engineers Ltd.
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4 VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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6 ***************************************************************************
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8 * FreeRTOS provides completely free yet professionally developed, *
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9 * robust, strictly quality controlled, supported, and cross *
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10 * platform software that has become a de facto standard. *
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12 * Help yourself get started quickly and support the FreeRTOS *
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13 * project by purchasing a FreeRTOS tutorial book, reference *
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14 * manual, or both from: http://www.FreeRTOS.org/Documentation *
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18 ***************************************************************************
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20 This file is part of the FreeRTOS distribution.
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22 FreeRTOS is free software; you can redistribute it and/or modify it under
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23 the terms of the GNU General Public License (version 2) as published by the
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24 Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
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26 >>! NOTE: The modification to the GPL is included to allow you to distribute
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27 >>! a combined work that includes FreeRTOS without being obliged to provide
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28 >>! the source code for proprietary components outside of the FreeRTOS
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31 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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32 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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33 FOR A PARTICULAR PURPOSE. Full license text is available from the following
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34 link: http://www.freertos.org/a00114.html
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38 ***************************************************************************
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40 * Having a problem? Start by reading the FAQ "My application does *
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41 * not run, what could be wrong?" *
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43 * http://www.FreeRTOS.org/FAQHelp.html *
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45 ***************************************************************************
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47 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
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48 license and Real Time Engineers Ltd. contact details.
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50 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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51 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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52 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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54 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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55 Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS
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56 licenses offer ticketed support, indemnification and middleware.
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58 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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59 engineered and independently SIL3 certified version for use in safety and
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60 mission critical applications that require provable dependability.
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67 * Creates all the demo application tasks, then starts the scheduler. The WEB
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68 * documentation provides more details of the standard demo application tasks
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69 * (which just exist to test the kernel port and provide an example of how to use
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70 * each FreeRTOS API function).
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72 * In addition to the standard demo tasks, the following tasks and tests are
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73 * defined and/or created within this file:
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75 * "Check" hook - This only executes fully every five seconds from the tick
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76 * hook. Its main function is to check that all the standard demo tasks are
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77 * still operational. The status can be viewed using on the Task Stats page
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78 * served by the WEB server.
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80 * "uIP" task - This is the task that handles the uIP stack. All TCP/IP
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81 * processing is performed in this task.
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83 * "USB" task - Enumerates the USB device as a CDC class, then echoes back all
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84 * received characters with a configurable offset (for example, if the offset
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85 * is 1 and 'A' is received then 'B' will be sent back). A dumb terminal such
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86 * as Hyperterminal can be used to talk to the USB task.
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89 /* Scheduler includes. */
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90 #include "FreeRTOS.h"
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93 /* Demo app includes. */
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95 #include "integer.h"
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96 #include "blocktim.h"
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98 #include "partest.h"
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99 #include "semtest.h"
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101 #include "GenQTest.h"
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103 #include "recmutex.h"
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105 /*-----------------------------------------------------------*/
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107 /* The time between cycles of the 'check' functionality (defined within the
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109 #define mainCHECK_DELAY ( ( portTickType ) 5000 / portTICK_RATE_MS )
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111 /* The toggle rate for the LED. */
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112 #define mainLED_TOGGLE_RATE ( ( portTickType ) 1000 / portTICK_RATE_MS )
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114 /* Task priorities. */
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115 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
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116 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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117 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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118 #define mainUIP_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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119 #define mainFLASH_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
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120 #define mainINTEGER_TASK_PRIORITY ( tskIDLE_PRIORITY )
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121 #define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )
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123 /* The WEB server has a larger stack as it utilises stack hungry string
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124 handling library calls. */
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125 #define mainBASIC_WEB_STACK_SIZE ( configMINIMAL_STACK_SIZE * 4 )
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127 /* The message displayed by the WEB server when all tasks are executing
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128 without an error being reported. */
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129 #define mainPASS_STATUS_MESSAGE "All tasks are executing without error."
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131 /*-----------------------------------------------------------*/
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134 * Configure the hardware for the demo.
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136 static void prvSetupHardware( void );
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139 * The task that handles the uIP stack. All TCP/IP processing is performed in
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142 extern void vuIP_Task( void *pvParameters );
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145 * The task that handles the USB stack.
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147 extern void vUSBTask( void *pvParameters );
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150 * Very basic task that does nothing but use delays to flash an LED.
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152 static void prvFlashTask( void *pvParameters );
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155 * Simply returns the current status message for display on served WEB pages.
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157 char *pcGetTaskStatusMessage( void );
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159 /*-----------------------------------------------------------*/
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161 /* Holds the status message displayed by the WEB server. */
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162 static char *pcStatusMessage = mainPASS_STATUS_MESSAGE;
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164 /*-----------------------------------------------------------*/
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168 /* Configure the hardware for use by this demo. */
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169 prvSetupHardware();
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171 /* Start the standard demo tasks. These are just here to exercise the
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172 kernel port and provide examples of how the FreeRTOS API can be used. */
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173 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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174 vCreateBlockTimeTasks();
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175 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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176 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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177 vStartIntegerMathTasks( mainINTEGER_TASK_PRIORITY );
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178 vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
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179 vStartQueuePeekTasks();
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180 vStartRecursiveMutexTasks();
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182 /* Create the simple LED flash task. */
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183 xTaskCreate( prvFlashTask, ( signed char * ) "Flash", configMINIMAL_STACK_SIZE, ( void * ) NULL, mainFLASH_TASK_PRIORITY, NULL );
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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 static void prvFlashTask( void *pvParameters )
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255 portTickType xLastFlashTime;
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257 /* We need to initialise xLastFlashTime prior to the first call to
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258 vTaskDelayUntil(). */
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259 xLastFlashTime = xTaskGetTickCount();
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263 /* Simply toggle the LED between delays. */
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264 vTaskDelayUntil( &xLastFlashTime, mainLED_TOGGLE_RATE );
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265 vParTestToggleLED( 0 );
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268 /*-----------------------------------------------------------*/
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270 char *pcGetTaskStatusMessage( void )
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272 /* Not bothered about a critical section here. */
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273 return pcStatusMessage;
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275 /*-----------------------------------------------------------*/
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277 void prvSetupHardware( void )
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279 /* Disable peripherals power. */
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282 /* Enable GPIO power. */
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283 SC->PCONP = PCONP_PCGPIO;
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285 /* Disable TPIU. */
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286 PINCON->PINSEL10 = 0;
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288 if ( SC->PLL0STAT & ( 1 << 25 ) )
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290 /* Enable PLL, disconnected. */
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292 SC->PLL0FEED = PLLFEED_FEED1;
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293 SC->PLL0FEED = PLLFEED_FEED2;
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296 /* Disable PLL, disconnected. */
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298 SC->PLL0FEED = PLLFEED_FEED1;
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299 SC->PLL0FEED = PLLFEED_FEED2;
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301 /* Enable main OSC. */
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303 while( !( SC->SCS & 0x40 ) );
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305 /* select main OSC, 12MHz, as the PLL clock source. */
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306 SC->CLKSRCSEL = 0x1;
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308 SC->PLL0CFG = 0x20031;
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309 SC->PLL0FEED = PLLFEED_FEED1;
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310 SC->PLL0FEED = PLLFEED_FEED2;
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312 /* Enable PLL, disconnected. */
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314 SC->PLL0FEED = PLLFEED_FEED1;
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315 SC->PLL0FEED = PLLFEED_FEED2;
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317 /* Set clock divider. */
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318 SC->CCLKCFG = 0x03;
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320 /* Configure flash accelerator. */
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321 SC->FLASHCFG = 0x403a;
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323 /* Check lock bit status. */
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324 while( ( ( SC->PLL0STAT & ( 1 << 26 ) ) == 0 ) );
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326 /* Enable and connect. */
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328 SC->PLL0FEED = PLLFEED_FEED1;
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329 SC->PLL0FEED = PLLFEED_FEED2;
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330 while( ( ( SC->PLL0STAT & ( 1 << 25 ) ) == 0 ) );
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335 /* Configure the clock for the USB. */
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337 if( SC->PLL1STAT & ( 1 << 9 ) )
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339 /* Enable PLL, disconnected. */
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341 SC->PLL1FEED = PLLFEED_FEED1;
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342 SC->PLL1FEED = PLLFEED_FEED2;
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345 /* Disable PLL, disconnected. */
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347 SC->PLL1FEED = PLLFEED_FEED1;
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348 SC->PLL1FEED = PLLFEED_FEED2;
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350 SC->PLL1CFG = 0x23;
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351 SC->PLL1FEED = PLLFEED_FEED1;
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352 SC->PLL1FEED = PLLFEED_FEED2;
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354 /* Enable PLL, disconnected. */
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356 SC->PLL1FEED = PLLFEED_FEED1;
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357 SC->PLL1FEED = PLLFEED_FEED2;
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358 while( ( ( SC->PLL1STAT & ( 1 << 10 ) ) == 0 ) );
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360 /* Enable and connect. */
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362 SC->PLL1FEED = PLLFEED_FEED1;
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363 SC->PLL1FEED = PLLFEED_FEED2;
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364 while( ( ( SC->PLL1STAT & ( 1 << 9 ) ) == 0 ) );
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366 /* Setup the peripheral bus to be the same as the PLL output (64 MHz). */
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367 SC->PCLKSEL0 = 0x05555555;
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369 /* Configure the LEDs. */
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370 vParTestInitialise();
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372 /*-----------------------------------------------------------*/
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374 void vApplicationStackOverflowHook( xTaskHandle pxTask, signed char *pcTaskName )
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376 /* This function will get called if a task overflows its stack. */
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379 ( void ) pcTaskName;
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383 /*-----------------------------------------------------------*/
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385 void vConfigureTimerForRunTimeStats( void )
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387 const unsigned long TCR_COUNT_RESET = 2, CTCR_CTM_TIMER = 0x00, TCR_COUNT_ENABLE = 0x01;
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389 /* This function configures a timer that is used as the time base when
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390 collecting run time statistical information - basically the percentage
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391 of CPU time that each task is utilising. It is called automatically when
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392 the scheduler is started (assuming configGENERATE_RUN_TIME_STATS is set
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395 /* Power up and feed the timer. */
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396 SC->PCONP |= 0x02UL;
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397 SC->PCLKSEL0 = (SC->PCLKSEL0 & (~(0x3<<2))) | (0x01 << 2);
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399 /* Reset Timer 0 */
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400 TIM0->TCR = TCR_COUNT_RESET;
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402 /* Just count up. */
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403 TIM0->CTCR = CTCR_CTM_TIMER;
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405 /* Prescale to a frequency that is good enough to get a decent resolution,
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406 but not too fast so as to overflow all the time. */
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407 TIM0->PR = ( configCPU_CLOCK_HZ / 10000UL ) - 1UL;
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409 /* Start the counter. */
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410 TIM0->TCR = TCR_COUNT_ENABLE;
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412 /*-----------------------------------------------------------*/
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