2 FreeRTOS V7.3.0 - Copyright (C) 2012 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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32 >>>NOTE<<< The modification to the GPL is included to allow you to
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33 distribute a combined work that includes FreeRTOS without being obliged to
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34 provide the source code for proprietary components outside of the FreeRTOS
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35 kernel. FreeRTOS is distributed in the hope that it will be useful, but
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36 WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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37 or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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38 more details. You should have received a copy of the GNU General Public
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39 License and the FreeRTOS license exception along with FreeRTOS; if not it
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40 can be viewed here: http://www.freertos.org/a00114.html and also obtained
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41 by writing to Richard Barry, contact details for whom are available on the
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46 ***************************************************************************
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48 * Having a problem? Start by reading the FAQ "My application does *
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49 * not run, what could be wrong?" *
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51 * http://www.FreeRTOS.org/FAQHelp.html *
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53 ***************************************************************************
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56 http://www.FreeRTOS.org - Documentation, training, latest versions, license
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57 and contact details.
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59 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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60 including FreeRTOS+Trace - an indispensable productivity tool.
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62 Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell
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63 the code with commercial support, indemnification, and middleware, under
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64 the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also
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65 provide a safety engineered and independently SIL3 certified version under
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66 the SafeRTOS brand: http://www.SafeRTOS.com.
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71 * Creates all the demo application tasks, then starts the scheduler. The WEB
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72 * documentation provides more details of the standard demo application tasks
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73 * (which just exist to test the kernel port and provide an example of how to use
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74 * each FreeRTOS API function).
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76 * In addition to the standard demo tasks, the following tasks and tests are
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77 * defined and/or created within this file:
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79 * "Check" hook - This only executes fully every five seconds from the tick
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80 * hook. Its main function is to check that all the standard demo tasks are
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81 * still operational. The status can be viewed using on the Task Stats page
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82 * served by the WEB server.
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84 * "uIP" task - This is the task that handles the uIP stack. All TCP/IP
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85 * processing is performed in this task.
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87 * "USB" task - Enumerates the USB device as a CDC class, then echoes back all
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88 * received characters with a configurable offset (for example, if the offset
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89 * is 1 and 'A' is received then 'B' will be sent back). A dumb terminal such
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90 * as Hyperterminal can be used to talk to the USB task.
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93 /* Scheduler includes. */
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94 #include "FreeRTOS.h"
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97 /* Demo app includes. */
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99 #include "integer.h"
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100 #include "blocktim.h"
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102 #include "partest.h"
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103 #include "semtest.h"
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105 #include "GenQTest.h"
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107 #include "recmutex.h"
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109 /*-----------------------------------------------------------*/
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111 /* The time between cycles of the 'check' functionality (defined within the
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113 #define mainCHECK_DELAY ( ( portTickType ) 5000 / portTICK_RATE_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 mainINTEGER_TASK_PRIORITY ( tskIDLE_PRIORITY )
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121 #define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )
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122 #define mainFLASH_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
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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 * Simply returns the current status message for display on served WEB pages.
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153 char *pcGetTaskStatusMessage( void );
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155 /*-----------------------------------------------------------*/
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157 /* Holds the status message displayed by the WEB server. */
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158 static char *pcStatusMessage = mainPASS_STATUS_MESSAGE;
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160 /*-----------------------------------------------------------*/
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164 /* Configure the hardware for use by this demo. */
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165 prvSetupHardware();
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167 /* Start the standard demo tasks. These are just here to exercise the
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168 kernel port and provide examples of how the FreeRTOS API can be used. */
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169 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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170 vCreateBlockTimeTasks();
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171 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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172 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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173 vStartIntegerMathTasks( mainINTEGER_TASK_PRIORITY );
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174 vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
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175 vStartQueuePeekTasks();
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176 vStartRecursiveMutexTasks();
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177 vStartLEDFlashTasks( mainFLASH_TASK_PRIORITY );
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179 /* Create the USB task. */
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180 xTaskCreate( vUSBTask, ( signed char * ) "USB", configMINIMAL_STACK_SIZE, ( void * ) NULL, tskIDLE_PRIORITY, NULL );
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182 /* Create the uIP task. The WEB server runs in this task. */
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183 xTaskCreate( vuIP_Task, ( signed char * ) "uIP", mainBASIC_WEB_STACK_SIZE, ( void * ) NULL, mainUIP_TASK_PRIORITY, NULL );
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185 /* Start the scheduler. */
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186 vTaskStartScheduler();
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188 /* Will only get here if there was insufficient memory to create the idle
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189 task. The idle task is created within vTaskStartScheduler(). */
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192 /*-----------------------------------------------------------*/
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194 void vApplicationTickHook( void )
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196 static unsigned long ulTicksSinceLastDisplay = 0;
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198 /* Called from every tick interrupt as described in the comments at the top
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201 Have enough ticks passed to make it time to perform our health status
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203 ulTicksSinceLastDisplay++;
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204 if( ulTicksSinceLastDisplay >= mainCHECK_DELAY )
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206 /* Reset the counter so these checks run again in mainCHECK_DELAY
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208 ulTicksSinceLastDisplay = 0;
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210 /* Has an error been found in any task? */
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211 if( xAreGenericQueueTasksStillRunning() != pdTRUE )
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213 pcStatusMessage = "An error has been detected in the Generic Queue test/demo.";
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215 else if( xAreQueuePeekTasksStillRunning() != pdTRUE )
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217 pcStatusMessage = "An error has been detected in the Peek Queue test/demo.";
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219 else if( xAreBlockingQueuesStillRunning() != pdTRUE )
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221 pcStatusMessage = "An error has been detected in the Block Queue test/demo.";
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223 else if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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225 pcStatusMessage = "An error has been detected in the Block Time test/demo.";
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227 else if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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229 pcStatusMessage = "An error has been detected in the Semaphore test/demo.";
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231 else if( xArePollingQueuesStillRunning() != pdTRUE )
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233 pcStatusMessage = "An error has been detected in the Poll Queue test/demo.";
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235 else if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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237 pcStatusMessage = "An error has been detected in the Int Math test/demo.";
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239 else if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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241 pcStatusMessage = "An error has been detected in the Mutex test/demo.";
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245 /*-----------------------------------------------------------*/
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247 char *pcGetTaskStatusMessage( void )
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249 /* Not bothered about a critical section here. */
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250 return pcStatusMessage;
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252 /*-----------------------------------------------------------*/
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254 void prvSetupHardware( void )
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256 /* Disable peripherals power. */
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259 /* Enable GPIO power. */
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260 SC->PCONP = PCONP_PCGPIO;
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262 /* Disable TPIU. */
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263 PINCON->PINSEL10 = 0;
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265 /* Setup the peripheral bus to be the same as the PLL output (64 MHz). */
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266 SC->PCLKSEL0 = 0x05555555;
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268 /* Configure the LEDs. */
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269 vParTestInitialise();
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271 /*-----------------------------------------------------------*/
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273 void vApplicationStackOverflowHook( xTaskHandle pxTask, signed char *pcTaskName )
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275 /* This function will get called if a task overflows its stack. */
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278 ( void ) pcTaskName;
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282 /*-----------------------------------------------------------*/
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284 void vConfigureTimerForRunTimeStats( void )
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286 const unsigned long TCR_COUNT_RESET = 2, CTCR_CTM_TIMER = 0x00, TCR_COUNT_ENABLE = 0x01;
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288 /* This function configures a timer that is used as the time base when
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289 collecting run time statistical information - basically the percentage
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290 of CPU time that each task is utilising. It is called automatically when
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291 the scheduler is started (assuming configGENERATE_RUN_TIME_STATS is set
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294 /* Power up and feed the timer. */
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295 SC->PCONP |= 0x02UL;
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296 SC->PCLKSEL0 = (SC->PCLKSEL0 & (~(0x3<<2))) | (0x01 << 2);
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298 /* Reset Timer 0 */
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299 TIM0->TCR = TCR_COUNT_RESET;
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301 /* Just count up. */
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302 TIM0->CTCR = CTCR_CTM_TIMER;
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304 /* Prescale to a frequency that is good enough to get a decent resolution,
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305 but not too fast so as to overflow all the time. */
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306 TIM0->PR = ( configCPU_CLOCK_HZ / 10000UL ) - 1UL;
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308 /* Start the counter. */
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309 TIM0->TCR = TCR_COUNT_ENABLE;
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311 /*-----------------------------------------------------------*/
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