2 FreeRTOS V7.4.2 - Copyright (C) 2013 Real Time Engineers Ltd.
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4 FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME. PLEASE VISIT
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5 http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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7 ***************************************************************************
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9 * FreeRTOS tutorial books are available in pdf and paperback. *
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10 * Complete, revised, and edited pdf reference manuals are also *
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13 * Purchasing FreeRTOS documentation will not only help you, by *
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14 * ensuring you get running as quickly as possible and with an *
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15 * in-depth knowledge of how to use FreeRTOS, it will also help *
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16 * the FreeRTOS project to continue with its mission of providing *
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17 * professional grade, cross platform, de facto standard solutions *
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18 * for microcontrollers - completely free of charge! *
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20 * >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
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22 * Thank you for using FreeRTOS, and thank you for your support! *
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24 ***************************************************************************
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27 This file is part of the FreeRTOS distribution.
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29 FreeRTOS is free software; you can redistribute it and/or modify it under
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30 the terms of the GNU General Public License (version 2) as published by the
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31 Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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33 >>>>>>NOTE<<<<<< The modification to the GPL is included to allow you to
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34 distribute a combined work that includes FreeRTOS without being obliged to
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35 provide the source code for proprietary components outside of the FreeRTOS
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38 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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39 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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40 FOR A PARTICULAR PURPOSE. See the GNU General Public License for more
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41 details. You should have received a copy of the GNU General Public License
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42 and the FreeRTOS license exception along with FreeRTOS; if not it can be
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43 viewed here: http://www.freertos.org/a00114.html and also obtained by
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44 writing to Real Time Engineers Ltd., contact details for whom are available
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45 on the FreeRTOS WEB site.
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49 ***************************************************************************
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51 * Having a problem? Start by reading the FAQ "My application does *
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52 * not run, what could be wrong?" *
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54 * http://www.FreeRTOS.org/FAQHelp.html *
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56 ***************************************************************************
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59 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
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60 license and Real Time Engineers Ltd. contact details.
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62 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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63 including FreeRTOS+Trace - an indispensable productivity tool, and our new
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64 fully thread aware and reentrant UDP/IP stack.
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66 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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67 Integrity Systems, who sell the code with commercial support,
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68 indemnification and middleware, under the OpenRTOS brand.
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70 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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71 engineered and independently SIL3 certified version for use in safety and
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72 mission critical applications that require provable dependability.
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77 * Creates all the demo application tasks, then starts the scheduler. The WEB
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78 * documentation provides more details of the standard demo application tasks
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79 * (which just exist to test the kernel port and provide an example of how to use
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80 * each FreeRTOS API function).
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82 * In addition to the standard demo tasks, the following tasks and tests are
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83 * defined and/or created within this file:
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85 * "Check" hook - This only executes fully every five seconds from the tick
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86 * hook. Its main function is to check that all the standard demo tasks are
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87 * still operational. The status can be viewed using on the Task Stats page
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88 * served by the WEB server.
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90 * "uIP" task - This is the task that handles the uIP stack. All TCP/IP
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91 * processing is performed in this task.
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93 * "USB" task - Enumerates the USB device as a CDC class, then echoes back all
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94 * received characters with a configurable offset (for example, if the offset
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95 * is 1 and 'A' is received then 'B' will be sent back). A dumb terminal such
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96 * as Hyperterminal can be used to talk to the USB task.
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99 /* Scheduler includes. */
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100 #include "FreeRTOS.h"
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103 /* Demo app includes. */
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104 #include "BlockQ.h"
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105 #include "integer.h"
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106 #include "blocktim.h"
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108 #include "partest.h"
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109 #include "semtest.h"
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111 #include "GenQTest.h"
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113 #include "recmutex.h"
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115 /*-----------------------------------------------------------*/
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117 /* The time between cycles of the 'check' functionality (defined within the
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119 #define mainCHECK_DELAY ( ( portTickType ) 5000 / portTICK_RATE_MS )
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121 /* The toggle rate for the LED. */
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122 #define mainLED_TOGGLE_RATE ( ( portTickType ) 1000 / portTICK_RATE_MS )
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124 /* Task priorities. */
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125 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
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126 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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127 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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128 #define mainUIP_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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129 #define mainFLASH_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
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130 #define mainINTEGER_TASK_PRIORITY ( tskIDLE_PRIORITY )
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131 #define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )
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133 /* The WEB server has a larger stack as it utilises stack hungry string
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134 handling library calls. */
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135 #define mainBASIC_WEB_STACK_SIZE ( configMINIMAL_STACK_SIZE * 4 )
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137 /* The message displayed by the WEB server when all tasks are executing
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138 without an error being reported. */
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139 #define mainPASS_STATUS_MESSAGE "All tasks are executing without error."
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141 /*-----------------------------------------------------------*/
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144 * Configure the hardware for the demo.
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146 static void prvSetupHardware( void );
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149 * The task that handles the uIP stack. All TCP/IP processing is performed in
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152 extern void vuIP_Task( void *pvParameters );
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155 * The task that handles the USB stack.
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157 extern void vUSBTask( void *pvParameters );
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160 * Very basic task that does nothing but use delays to flash an LED.
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162 static void prvFlashTask( void *pvParameters );
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165 * Simply returns the current status message for display on served WEB pages.
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167 char *pcGetTaskStatusMessage( void );
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169 /*-----------------------------------------------------------*/
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171 /* Holds the status message displayed by the WEB server. */
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172 static char *pcStatusMessage = mainPASS_STATUS_MESSAGE;
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174 /*-----------------------------------------------------------*/
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178 /* Configure the hardware for use by this demo. */
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179 prvSetupHardware();
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181 /* Start the standard demo tasks. These are just here to exercise the
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182 kernel port and provide examples of how the FreeRTOS API can be used. */
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183 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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184 vCreateBlockTimeTasks();
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185 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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186 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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187 vStartIntegerMathTasks( mainINTEGER_TASK_PRIORITY );
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188 vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
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189 vStartQueuePeekTasks();
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190 vStartRecursiveMutexTasks();
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192 /* Create the simple LED flash task. */
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193 xTaskCreate( prvFlashTask, ( signed char * ) "Flash", configMINIMAL_STACK_SIZE, ( void * ) NULL, mainFLASH_TASK_PRIORITY, NULL );
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195 /* Create the USB task. */
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196 xTaskCreate( vUSBTask, ( signed char * ) "USB", configMINIMAL_STACK_SIZE, ( void * ) NULL, tskIDLE_PRIORITY, NULL );
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198 /* Create the uIP task. The WEB server runs in this task. */
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199 xTaskCreate( vuIP_Task, ( signed char * ) "uIP", mainBASIC_WEB_STACK_SIZE, ( void * ) NULL, mainUIP_TASK_PRIORITY, NULL );
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201 /* Start the scheduler. */
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202 vTaskStartScheduler();
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204 /* Will only get here if there was insufficient memory to create the idle
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205 task. The idle task is created within vTaskStartScheduler(). */
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208 /*-----------------------------------------------------------*/
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210 void vApplicationTickHook( void )
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212 static unsigned long ulTicksSinceLastDisplay = 0;
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214 /* Called from every tick interrupt as described in the comments at the top
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217 Have enough ticks passed to make it time to perform our health status
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219 ulTicksSinceLastDisplay++;
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220 if( ulTicksSinceLastDisplay >= mainCHECK_DELAY )
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222 /* Reset the counter so these checks run again in mainCHECK_DELAY
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224 ulTicksSinceLastDisplay = 0;
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226 /* Has an error been found in any task? */
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227 if( xAreGenericQueueTasksStillRunning() != pdTRUE )
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229 pcStatusMessage = "An error has been detected in the Generic Queue test/demo.";
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231 else if( xAreQueuePeekTasksStillRunning() != pdTRUE )
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233 pcStatusMessage = "An error has been detected in the Peek Queue test/demo.";
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235 else if( xAreBlockingQueuesStillRunning() != pdTRUE )
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237 pcStatusMessage = "An error has been detected in the Block Queue test/demo.";
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239 else if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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241 pcStatusMessage = "An error has been detected in the Block Time test/demo.";
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243 else if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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245 pcStatusMessage = "An error has been detected in the Semaphore test/demo.";
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247 else if( xArePollingQueuesStillRunning() != pdTRUE )
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249 pcStatusMessage = "An error has been detected in the Poll Queue test/demo.";
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251 else if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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253 pcStatusMessage = "An error has been detected in the Int Math test/demo.";
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255 else if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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257 pcStatusMessage = "An error has been detected in the Mutex test/demo.";
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261 /*-----------------------------------------------------------*/
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263 static void prvFlashTask( void *pvParameters )
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265 portTickType xLastFlashTime;
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267 /* We need to initialise xLastFlashTime prior to the first call to
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268 vTaskDelayUntil(). */
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269 xLastFlashTime = xTaskGetTickCount();
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273 /* Simply toggle the LED between delays. */
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274 vTaskDelayUntil( &xLastFlashTime, mainLED_TOGGLE_RATE );
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275 vParTestToggleLED( 0 );
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278 /*-----------------------------------------------------------*/
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280 char *pcGetTaskStatusMessage( void )
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282 /* Not bothered about a critical section here. */
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283 return pcStatusMessage;
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285 /*-----------------------------------------------------------*/
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287 void prvSetupHardware( void )
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289 /* Disable peripherals power. */
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292 /* Enable GPIO power. */
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293 SC->PCONP = PCONP_PCGPIO;
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295 /* Disable TPIU. */
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296 PINCON->PINSEL10 = 0;
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298 if ( SC->PLL0STAT & ( 1 << 25 ) )
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300 /* Enable PLL, disconnected. */
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302 SC->PLL0FEED = PLLFEED_FEED1;
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303 SC->PLL0FEED = PLLFEED_FEED2;
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306 /* Disable PLL, disconnected. */
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308 SC->PLL0FEED = PLLFEED_FEED1;
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309 SC->PLL0FEED = PLLFEED_FEED2;
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311 /* Enable main OSC. */
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313 while( !( SC->SCS & 0x40 ) );
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315 /* select main OSC, 12MHz, as the PLL clock source. */
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316 SC->CLKSRCSEL = 0x1;
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318 SC->PLL0CFG = 0x20031;
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319 SC->PLL0FEED = PLLFEED_FEED1;
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320 SC->PLL0FEED = PLLFEED_FEED2;
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322 /* Enable PLL, disconnected. */
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324 SC->PLL0FEED = PLLFEED_FEED1;
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325 SC->PLL0FEED = PLLFEED_FEED2;
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327 /* Set clock divider. */
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328 SC->CCLKCFG = 0x03;
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330 /* Configure flash accelerator. */
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331 SC->FLASHCFG = 0x403a;
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333 /* Check lock bit status. */
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334 while( ( ( SC->PLL0STAT & ( 1 << 26 ) ) == 0 ) );
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336 /* Enable and connect. */
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338 SC->PLL0FEED = PLLFEED_FEED1;
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339 SC->PLL0FEED = PLLFEED_FEED2;
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340 while( ( ( SC->PLL0STAT & ( 1 << 25 ) ) == 0 ) );
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345 /* Configure the clock for the USB. */
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347 if( SC->PLL1STAT & ( 1 << 9 ) )
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349 /* Enable PLL, disconnected. */
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351 SC->PLL1FEED = PLLFEED_FEED1;
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352 SC->PLL1FEED = PLLFEED_FEED2;
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355 /* Disable PLL, disconnected. */
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357 SC->PLL1FEED = PLLFEED_FEED1;
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358 SC->PLL1FEED = PLLFEED_FEED2;
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360 SC->PLL1CFG = 0x23;
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361 SC->PLL1FEED = PLLFEED_FEED1;
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362 SC->PLL1FEED = PLLFEED_FEED2;
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364 /* Enable PLL, disconnected. */
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366 SC->PLL1FEED = PLLFEED_FEED1;
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367 SC->PLL1FEED = PLLFEED_FEED2;
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368 while( ( ( SC->PLL1STAT & ( 1 << 10 ) ) == 0 ) );
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370 /* Enable and connect. */
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372 SC->PLL1FEED = PLLFEED_FEED1;
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373 SC->PLL1FEED = PLLFEED_FEED2;
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374 while( ( ( SC->PLL1STAT & ( 1 << 9 ) ) == 0 ) );
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376 /* Setup the peripheral bus to be the same as the PLL output (64 MHz). */
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377 SC->PCLKSEL0 = 0x05555555;
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379 /* Configure the LEDs. */
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380 vParTestInitialise();
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382 /*-----------------------------------------------------------*/
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384 void vApplicationStackOverflowHook( xTaskHandle pxTask, signed char *pcTaskName )
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386 /* This function will get called if a task overflows its stack. */
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389 ( void ) pcTaskName;
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393 /*-----------------------------------------------------------*/
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395 void vConfigureTimerForRunTimeStats( void )
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397 const unsigned long TCR_COUNT_RESET = 2, CTCR_CTM_TIMER = 0x00, TCR_COUNT_ENABLE = 0x01;
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399 /* This function configures a timer that is used as the time base when
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400 collecting run time statistical information - basically the percentage
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401 of CPU time that each task is utilising. It is called automatically when
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402 the scheduler is started (assuming configGENERATE_RUN_TIME_STATS is set
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405 /* Power up and feed the timer. */
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406 SC->PCONP |= 0x02UL;
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407 SC->PCLKSEL0 = (SC->PCLKSEL0 & (~(0x3<<2))) | (0x01 << 2);
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409 /* Reset Timer 0 */
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410 TIM0->TCR = TCR_COUNT_RESET;
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412 /* Just count up. */
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413 TIM0->CTCR = CTCR_CTM_TIMER;
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415 /* Prescale to a frequency that is good enough to get a decent resolution,
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416 but not too fast so as to overflow all the time. */
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417 TIM0->PR = ( configCPU_CLOCK_HZ / 10000UL ) - 1UL;
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419 /* Start the counter. */
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420 TIM0->TCR = TCR_COUNT_ENABLE;
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422 /*-----------------------------------------------------------*/
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