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 * 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 * "Web server" - Very basic demonstration of the uIP stack. The WEB server
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77 * simply generates a page that shows the current state of all the tasks within
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78 * the system, including the high water mark of each task stack. The high water
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79 * mark is displayed as the amount of stack that has never been used, so the
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80 * closer the value is to zero the closer the task has come to overflowing its
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81 * stack. The IP address and net mask are set within FreeRTOSConfig.h. Sub
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82 * pages display some TCP/IP status information and permit LED3 to be turned on
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83 * and off using a check box.
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85 * Tick hook function that implements a "Check" function - This is executed
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86 * every 5 seconds from the tick hook function. It checks to ensure that all
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87 * the standard demo tasks are still operational and running without error.
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88 * The system status (pass/fail) is then displayed underneith the task table on
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89 * the served WEB pages.
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91 * "Reg test" tasks - These fill the registers with known values, then check
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92 * that each register still contains its expected value. Each task uses
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93 * different values. The tasks run with very low priority so get preempted very
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94 * frequently. A register containing an unexpected value is indicative of an
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95 * error in the context switching mechanism.
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99 /* Standard includes. */
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102 /* Scheduler includes. */
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103 #include "FreeRTOS.h"
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106 #include "semphr.h"
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108 /* Demo app includes. */
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109 #include "BlockQ.h"
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112 #include "partest.h"
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113 #include "GenQTest.h"
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115 #include "recmutex.h"
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117 /*-----------------------------------------------------------*/
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119 /* ComTest constants - there is no free LED for the comtest tasks. */
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120 #define mainCOM_TEST_BAUD_RATE ( ( unsigned long ) 19200 )
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121 #define mainCOM_TEST_LED ( 5 )
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123 /* Task priorities. */
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124 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
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125 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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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 mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
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129 #define mainINTEGER_TASK_PRIORITY ( tskIDLE_PRIORITY )
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130 #define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )
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131 #define mainWEB_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
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133 /* WEB server requires enough stack for the string handling functions. */
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134 #define mainBASIC_WEB_STACK_SIZE ( configMINIMAL_STACK_SIZE * 2 )
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137 * Configure the hardware for the demo.
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139 static void prvSetupHardware( void );
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142 * Implements the 'check' function as described at the top of this file.
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144 static void prvCheckFunction( void );
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147 * Implement the 'Reg test' functionality as described at the top of this file.
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149 static void vRegTest1Task( void *pvParameters );
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150 static void vRegTest2Task( void *pvParameters );
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153 * The task that handles the uIP stack. All TCP/IP processing is performed in
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156 extern void vuIP_Task( void *pvParameters );
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158 /*-----------------------------------------------------------*/
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160 /* Counters used to detect errors within the reg test tasks. */
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161 static volatile unsigned long ulRegTest1Counter = 0x11111111, ulRegTest2Counter = 0x22222222;
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163 /* Flag that latches any errors detected in the system. */
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164 unsigned long ulCheckErrors = 0;
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166 /*-----------------------------------------------------------*/
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170 extern void vBasicWEBServer( void *pv );
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172 /* Setup the hardware ready for this demo. */
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173 prvSetupHardware();
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175 xTaskCreate( vuIP_Task, ( signed char * ) "uIP", mainBASIC_WEB_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY - 1, NULL );
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177 /* Start the standard demo tasks. */
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178 vStartLEDFlashTasks( tskIDLE_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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182 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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184 /* Start the reg test tasks - defined in this file. */
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185 xTaskCreate( vRegTest1Task, ( signed char * ) "Reg1", configMINIMAL_STACK_SIZE, ( void * ) &ulRegTest1Counter, tskIDLE_PRIORITY, NULL );
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186 xTaskCreate( vRegTest2Task, ( signed char * ) "Reg2", configMINIMAL_STACK_SIZE, ( void * ) &ulRegTest2Counter, tskIDLE_PRIORITY, NULL );
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188 /* Start the scheduler. */
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189 vTaskStartScheduler();
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191 /* Will only get here if there was insufficient memory to create the idle
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197 /*-----------------------------------------------------------*/
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199 void vApplicationTickHook( void )
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201 static unsigned long ulExecutionCount = 0, ulLastRegTest1Count = 0, ulLastRegTest2Count = 0;
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202 const unsigned long ulExecutionRate = 5000 / portTICK_RATE_MS;
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204 /* Increment the count of how many times the tick hook has been called. */
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205 ulExecutionCount++;
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207 /* Is it time to perform the check again? */
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208 if( ulExecutionCount >= ulExecutionRate )
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210 /* Reset the execution count so this function is called again in 5
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212 ulExecutionCount = 0;
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214 /* Has an error been found in any task? */
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215 if( xAreGenericQueueTasksStillRunning() != pdTRUE )
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217 ulCheckErrors |= 0x01UL;
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220 if( xAreQueuePeekTasksStillRunning() != pdTRUE )
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222 ulCheckErrors |= 0x02UL;
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225 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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227 ulCheckErrors |= 0x04UL;
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230 if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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232 ulCheckErrors |= 0x200UL;
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235 if( ulLastRegTest1Count == ulRegTest1Counter )
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237 ulCheckErrors |= 0x1000UL;
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240 if( ulLastRegTest2Count == ulRegTest2Counter )
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242 ulCheckErrors |= 0x1000UL;
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245 ulLastRegTest1Count = ulRegTest1Counter;
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246 ulLastRegTest2Count = ulRegTest2Counter;
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249 /*-----------------------------------------------------------*/
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251 static void prvSetupHardware( void )
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253 /* Disable the watchdog, STOP and WAIT modes. */
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256 /* --- Setup clock to use external 25MHz source. --- */
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258 /* Extal and xtal pin ON. */
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262 /* Switch from FEI to FBE (FLL bypassed external)
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263 enable external clock source */
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264 MCGC2 = MCGC2_ERCLKEN_MASK /* Activate external reference clock */
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265 | MCGC2_EREFS_MASK /* Because crystal is being used */
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266 | MCGC2_RANGE_MASK; /* High range */
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268 /* Select clock mode and clear IREFs. */
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269 MCGC1 = (0x02 << 6 ) /* CLKS = 10 -> external reference clock. */
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270 | (0x04 << 3 ) /* RDIV = 2^4 -> 25MHz/16 = 1.5625 MHz */
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271 | MCGC1_IRCLKEN_MASK; /* IRCLK to RTC enabled */
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273 /* Wait for Reference and Clock status bits to update. */
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274 while( MCGSC_IREFST | ( MCGSC_CLKST != 0x02 ) )
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276 /* Nothing to do here. */
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279 /* Switch from FBE to PBE (PLL bypassed internal) mode. */
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280 MCGC3 = 0x08 /* Set PLL multi 50MHz. */
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281 | MCGC3_PLLS_MASK; /* Select PLL. */
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283 /* Wait for PLL status and lock bits to update. */
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284 while( !MCGSC_PLLST | !MCGSC_LOCK )
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286 /* Nothing to do here. */
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290 /* Now in PBE Mode, finally switch from PBE to PEE (PLL enabled external
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292 MCGC1_CLKS = 0b00; /* PLL clock to system (MCGOUT) */
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294 /* Wait for the clock status bits to update. */
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295 while( MCGSC_CLKST != 0x03 )
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297 /* Nothing to do here. */
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300 /* Setup the IO for the LED outputs. */
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301 vParTestInitialise();
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303 /*-----------------------------------------------------------*/
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305 void vApplicationStackOverflowHook( xTaskHandle pxTask, signed char *pcTaskName )
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307 /* This will get called if a stack overflow is detected during the context
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308 switch. Set configCHECK_FOR_STACK_OVERFLOWS to 2 to also check for stack
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309 problems within nested interrupts, but only do this for debug purposes as
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310 it will increase the context switch time. */
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313 ( void ) pcTaskName;
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319 /*-----------------------------------------------------------*/
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321 static void vRegTest1Task( void *pvParameters )
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323 /* Just to remove compiler warnings. */
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324 ( void ) pvParameters;
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326 /* Set all the registers to known values, then check that each retains its
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327 expected value - as described at the top of this file. If an error is
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328 found then the loop counter will no longer be incremented allowing the check
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329 task to recognise the error. */
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330 asm volatile ( "reg_test_1_start: \n\t"
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331 " moveq #1, d0 \n\t"
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332 " moveq #2, d1 \n\t"
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333 " moveq #3, d2 \n\t"
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334 " moveq #4, d3 \n\t"
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335 " moveq #5, d4 \n\t"
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336 " moveq #6, d5 \n\t"
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337 " moveq #7, d6 \n\t"
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338 " moveq #8, d7 \n\t"
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339 " move #9, a0 \n\t"
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340 " move #10, a1 \n\t"
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341 " move #11, a2 \n\t"
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342 " move #12, a3 \n\t"
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343 " move #13, a4 \n\t"
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344 " move #15, a6 \n\t"
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346 " cmpi.l #1, d0 \n\t"
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347 " bne reg_test_1_error \n\t"
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348 " cmpi.l #2, d1 \n\t"
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349 " bne reg_test_1_error \n\t"
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350 " cmpi.l #3, d2 \n\t"
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351 " bne reg_test_1_error \n\t"
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352 " cmpi.l #4, d3 \n\t"
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353 " bne reg_test_1_error \n\t"
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354 " cmpi.l #5, d4 \n\t"
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355 " bne reg_test_1_error \n\t"
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356 " cmpi.l #6, d5 \n\t"
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357 " bne reg_test_1_error \n\t"
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358 " cmpi.l #7, d6 \n\t"
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359 " bne reg_test_1_error \n\t"
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360 " cmpi.l #8, d7 \n\t"
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361 " bne reg_test_1_error \n\t"
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362 " move a0, d0 \n\t"
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363 " cmpi.l #9, d0 \n\t"
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364 " bne reg_test_1_error \n\t"
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365 " move a1, d0 \n\t"
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366 " cmpi.l #10, d0 \n\t"
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367 " bne reg_test_1_error \n\t"
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368 " move a2, d0 \n\t"
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369 " cmpi.l #11, d0 \n\t"
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370 " bne reg_test_1_error \n\t"
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371 " move a3, d0 \n\t"
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372 " cmpi.l #12, d0 \n\t"
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373 " bne reg_test_1_error \n\t"
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374 " move a4, d0 \n\t"
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375 " cmpi.l #13, d0 \n\t"
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376 " bne reg_test_1_error \n\t"
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377 " move a6, d0 \n\t"
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378 " cmpi.l #15, d0 \n\t"
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379 " bne reg_test_1_error \n\t"
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380 " move ulRegTest1Counter, d0 \n\t"
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381 " addq #1, d0 \n\t"
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382 " move d0, ulRegTest1Counter \n\t"
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383 " bra reg_test_1_start \n\t"
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384 "reg_test_1_error: \n\t"
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385 " bra reg_test_1_error \n\t"
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388 /*-----------------------------------------------------------*/
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390 static void vRegTest2Task( void *pvParameters )
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392 /* Just to remove compiler warnings. */
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393 ( void ) pvParameters;
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395 /* Set all the registers to known values, then check that each retains its
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396 expected value - as described at the top of this file. If an error is
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397 found then the loop counter will no longer be incremented allowing the check
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398 task to recognise the error. */
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399 asm volatile ( "reg_test_2_start: \n\t"
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400 " moveq #10, d0 \n\t"
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401 " moveq #20, d1 \n\t"
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402 " moveq #30, d2 \n\t"
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403 " moveq #40, d3 \n\t"
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404 " moveq #50, d4 \n\t"
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405 " moveq #60, d5 \n\t"
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406 " moveq #70, d6 \n\t"
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407 " moveq #80, d7 \n\t"
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408 " move #90, a0 \n\t"
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409 " move #100, a1 \n\t"
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410 " move #110, a2 \n\t"
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411 " move #120, a3 \n\t"
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412 " move #130, a4 \n\t"
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413 " move #150, a6 \n\t"
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415 " cmpi.l #10, d0 \n\t"
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416 " bne reg_test_2_error \n\t"
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417 " cmpi.l #20, d1 \n\t"
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418 " bne reg_test_2_error \n\t"
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419 " cmpi.l #30, d2 \n\t"
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420 " bne reg_test_2_error \n\t"
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421 " cmpi.l #40, d3 \n\t"
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422 " bne reg_test_2_error \n\t"
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423 " cmpi.l #50, d4 \n\t"
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424 " bne reg_test_2_error \n\t"
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425 " cmpi.l #60, d5 \n\t"
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426 " bne reg_test_2_error \n\t"
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427 " cmpi.l #70, d6 \n\t"
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428 " bne reg_test_2_error \n\t"
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429 " cmpi.l #80, d7 \n\t"
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430 " bne reg_test_2_error \n\t"
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431 " move a0, d0 \n\t"
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432 " cmpi.l #90, d0 \n\t"
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433 " bne reg_test_2_error \n\t"
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434 " move a1, d0 \n\t"
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435 " cmpi.l #100, d0 \n\t"
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436 " bne reg_test_2_error \n\t"
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437 " move a2, d0 \n\t"
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438 " cmpi.l #110, d0 \n\t"
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439 " bne reg_test_2_error \n\t"
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440 " move a3, d0 \n\t"
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441 " cmpi.l #120, d0 \n\t"
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442 " bne reg_test_2_error \n\t"
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443 " move a4, d0 \n\t"
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444 " cmpi.l #130, d0 \n\t"
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445 " bne reg_test_2_error \n\t"
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446 " move a6, d0 \n\t"
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447 " cmpi.l #150, d0 \n\t"
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448 " bne reg_test_2_error \n\t"
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449 " move ulRegTest1Counter, d0 \n\t"
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450 " addq #1, d0 \n\t"
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451 " move d0, ulRegTest2Counter \n\t"
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452 " bra reg_test_2_start \n\t"
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453 "reg_test_2_error: \n\t"
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454 " bra reg_test_2_error \n\t"
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457 /*-----------------------------------------------------------*/
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projects / freertos / blob