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@ -47,6 +47,34 @@
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licensing and training services.
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*/
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/*
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* Creates all the demo application tasks, then starts the scheduler. The WEB
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* documentation provides more details of the standard demo application tasks.
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* In addition to the standard demo tasks, the following tasks and tests are
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* defined and/or created within this file:
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*
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* "Check" task - This only executes every three seconds but has a high priority
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* to ensure it gets processor time. Its main function is to check that all the
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* standard demo tasks are still operational. If everything is running as
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* expected then the check task will toggle an LED every 3 seconds. An error
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* being discovered in any task will cause the toggle rate to increase to 500ms.
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*
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* "Reg test" tasks - These fill the registers with known values, then check
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* that each register still contains its expected value. Each task uses
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* different values. The tasks run with very low priority so get preempted very
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* frequently. A register containing an unexpected value is indicative of an
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* error in the context switching mechanism.
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*
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*
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* Also in addition to the standard demo tasks is a button push task. This is
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* a very basic task that is included as an example of how to write an interrupt
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* service routine that interacts with a task. The button on the target board
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* is used to generate an interrupt that 'gives' a semaphore in order to unblock
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* a task. In doing so the task is synchronised with the interrupt. Each time
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* the task unblocks it simply toggles an LED before entering the Blocked state
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* again to wait for the next button push.
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*/
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/* Standard includes. */
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#include <stdlib.h>
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#include <string.h>
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@ -55,8 +83,7 @@
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#include "FreeRTOS.h"
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#include "task.h"
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/* Demo file headers. */
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#include "int78K0R.h"
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/* Standard demo file headers. */
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#include "PollQ.h"
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#include "semtest.h"
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#include "GenQTest.h"
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@ -77,57 +104,91 @@
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#define mainNO_ERROR_TOGGLE_PERIOD ( ( portTickType ) 3000 / portTICK_RATE_MS )
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#define mainERROR_TOGGLE_PERIOD ( ( portTickType ) 500 / portTICK_RATE_MS )
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#define LED00 P7_bit.no6
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#define LED01 P7_bit.no7
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/* The LED toggled by the check task. */
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#define mainLED_0 P7_bit.no6
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/*
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* 78K0R/Kx3 Option Byte Definition
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* watchdog disabled, LVI enabled, OCD interface enabled
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*/
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__root __far const unsigned portCHAR OptionByte[OPT_BYTES_SIZE] @ 0x00C0 =
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{
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WATCHDOG_DISABLED, LVI_ENABLED, RESERVED_FF, OCD_ENABLED
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};
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/* A value that is passed in as the parameter to the 'check' task. This is done
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purely to check that the parameter passing mechanism is functioning correctly. */
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#define mainCHECK_PARAMETER_VALUE ( 0x345678 )
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/* Security Byte Definition */
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__root __far const unsigned portCHAR SecuIDCode[SECU_ID_SIZE] @ 0x00C4 =
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{
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0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff
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};
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/*-----------------------------------------------------------*/
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/* The task function for the "Check" task. */
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/*
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* The function that defines the 'check' task as described at the top of this
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* file.
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*/
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static void vErrorChecks( void *pvParameters );
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/* 78K0R/Kx3 low level init Initialization of the System Clock */
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/*
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* This function is called from the C startup routine to setup the processor -
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* in particular the clock source.
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*/
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int __low_level_init(void);
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/*
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* Functions that define the RegTest tasks as described at the top of this file.
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*/
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extern void vRegTest1( void *pvParameters );
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extern void vRegTest2( void *pvParameters );
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/*
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* Function that defines the button push task as described at the top of this
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* file.
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*/
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extern void vButtonTask( void *pvParameters );
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/*-----------------------------------------------------------*/
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/* If an error is discovered by one of the RegTest tasks then this flag is set
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to pdFAIL. The 'check' task then inspects this flag to detect errors within
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the RegTest tasks. */
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static short sRegTestStatus = pdPASS;
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portSHORT main( void )
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/* 78K0R Option Byte Definition. Watchdog disabled, LVI enabled, OCD interface
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enabled. */
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__root __far const unsigned portCHAR OptionByte[] @ 0x00C0 =
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{
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WATCHDOG_DISABLED, LVI_ENABLED, RESERVED_FF, OCD_ENABLED
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};
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/* Security byte definition */
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__root __far const unsigned portCHAR SecuIDCode[] @ 0x00C4 =
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{
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0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff
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};
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/*-----------------------------------------------------------*/
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short main( void )
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{
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/* Create the standard demo tasks. */
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/* Creates all the tasks, then starts the scheduler. */
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/* First create the 'standard demo' tasks. These are used to demonstrate
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API functions being used and also to test the kernel port. More information
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is provided on the FreeRTOS.org WEB site. */
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vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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vStartSemaphoreTasks(mainSEMTEST_PRIORITY);
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vStartGenericQueueTasks( mainGEN_QUEUE_PRIORITY );
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vStartDynamicPriorityTasks();
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vCreateBlockTimeTasks();
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/* Create the button push task as described at the top of this file. */
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xTaskCreate( vButtonTask, "Button", configMINIMAL_STACK_SIZE, NULL, mainBUTTON_PRIORITY, NULL );
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/* Create the tasks defined within this file. */
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xTaskCreate( vErrorChecks, "Check", configMINIMAL_STACK_SIZE, (void*)0x12345678, mainCHECK_TASK_PRIORITY, NULL );
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/* Create the RegTest tasks as described at the top of this file. */
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xTaskCreate( vRegTest1, "Reg1", configMINIMAL_STACK_SIZE, NULL, 0, NULL );
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xTaskCreate( vRegTest2, "Reg2", configMINIMAL_STACK_SIZE, NULL, 0, NULL );
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/* Create the 'check' task as described at the top of this file. */
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xTaskCreate( vErrorChecks, "Check", configMINIMAL_STACK_SIZE, ( void* )mainCHECK_PARAMETER_VALUE, mainCHECK_TASK_PRIORITY, NULL );
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/* Finally start the scheduler running. */
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vTaskStartScheduler();
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/* If this line is reached then vTaskStartScheduler() returned because there
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was insufficient heap memory remaining for the idle task to be created. */
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for( ;; );
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}
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/*-----------------------------------------------------------*/
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@ -136,19 +197,24 @@ static void vErrorChecks( void *pvParameters )
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{
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portTickType xToggleRate = mainNO_ERROR_TOGGLE_PERIOD, xLastWakeTime;
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/* The pointer will only actually be either 3 or 2 bytes, depending on the
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memory model. */
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if( pvParameters != ( void * ) 0x12345678 )
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/* Ensure the parameter was passed in as expected. This is just a test of
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the kernel port, the parameter is not actually used for anything. The
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pointer will only actually be either 3 or 2 bytes, depending on the memory
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model. */
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if( pvParameters != ( void * ) mainCHECK_PARAMETER_VALUE )
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{
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xToggleRate = mainERROR_TOGGLE_PERIOD;
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}
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/* Initialise xLastWakeTime before it is used. After this point it is not
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written to directly. */
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xLastWakeTime = xTaskGetTickCount();
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/* Cycle for ever, delaying then checking all the other tasks are still
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operating without error. */
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for( ;; )
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{
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/* Wait until it is time to check all the other tasks again. */
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vTaskDelayUntil( &xLastWakeTime, xToggleRate );
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if( xAreGenericQueueTasksStillRunning() != pdTRUE )
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@ -181,121 +247,114 @@ portTickType xToggleRate = mainNO_ERROR_TOGGLE_PERIOD, xLastWakeTime;
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xToggleRate = mainERROR_TOGGLE_PERIOD;
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}
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/* Toggle the LED. */
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LED00 = !LED00;
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/* Toggle the LED. The toggle rate will depend on whether or not an
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error has been found in any tasks. */
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mainLED_0 = !mainLED_0;
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}
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}
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/*-----------------------------------------------------------*/
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int __low_level_init(void)
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{
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unsigned portCHAR resetflag = RESF;
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unsigned portCHAR ucResetFlag = RESF;
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portDISABLE_INTERRUPTS();
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/*
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* Clock Configuration:
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* In this port, to use the internal high speed clock source of the microcontroller
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* define the configCLOCK_SOURCE as 1 in FreeRTOSConfig.h. To use an external
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* clock define configCLOCK_SOURCE as 0.
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*/
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/* Clock Configuration:
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In this port, to use the internal high speed clock source of the microcontroller
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define the configCLOCK_SOURCE as 1 in FreeRTOSConfig.h. To use an external
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clock define configCLOCK_SOURCE as 0. */
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#if configCLOCK_SOURCE == 1
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{
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/*
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* Set XT1 and XT2 in Input Port Mode
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* Set X1 and X2 in Input Port Mode
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* High speed oszillation frequency 2MHz <= fMX <= 10MHz
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*/
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/* Set XT1 and XT2 in Input Port Mode
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Set X1 and X2 in Input Port Mode
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High speed oscillator frequency 2MHz <= fMX <= 10MHz */
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CMC = 0x00;
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/* X1 external oszillation stopped */
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/* X1 external oszillation stopped. */
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MSTOP = 1;
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/* enable internal high speed oszillation */
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/* Enable internal high speed oszillation. */
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HIOSTOP = 0;
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MCM0 = 0;
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/* stop internal subsystem clock */
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/* Stop internal subsystem clock. */
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XTSTOP = 1;
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/* Set clock speed */
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/* Set clock speed. */
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CSS = 0;
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CKC &= (unsigned portCHAR)~0x07;
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CKC |= 0x00;
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}
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#else
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{
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/*
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* XT1 and XT2 pin in input port mode
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* X1 and X2 pin in crystal resonator mode
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* High speed oszillation frequency 10MHz < fMX <= 20MHz
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*/
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/* XT1 and XT2 pin in input port mode
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X1 and X2 pin in crystal resonator mode
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High speed oszillation frequency 10MHz < fMX <= 20MHz */
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CMC = 0x41;
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/* Set oscillation stabilization time */
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/* Set oscillation stabilization time. */
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OSTS = 0x07;
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/* Set speed mode: fMX > 10MHz for Flash memory high speed operation */
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/* Set speed mode: fMX > 10MHz for Flash memory high speed operation. */
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OSMC = 0x01;
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/*
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* Start up X1 oscillator operation
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* Internal high-speed oscillator operating
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*/
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/* Start up X1 oscillator operation
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Internal high-speed oscillator operating. */
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MSTOP = 0;
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/* Check oscillation stabilization time status */
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/* Check oscillation stabilization time status. */
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while(OSTC < 0x07)
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{
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/* wait until X1 clock stabilization time */
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/* Wait until X1 clock stabilization time. */
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portNOP();
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}
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/* Switch CPU clock to X1 oscillator */
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/* Switch CPU clock to X1 oscillator. */
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MCM0 = 1;
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while(MCS != 1)
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{
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/* wait until CPU and peripherals operate with fX1 clock */
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/* Wait until CPU and peripherals operate with fX1 clock. */
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portNOP();
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}
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/* Stop the internal high-speed oscillator operation */
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/* Stop the internal high-speed oscillator operation. */
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HIOSTOP = 1;
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/* Stop the XT1 oscillator operation */
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/* Stop the XT1 oscillator operation. */
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XTSTOP = 1;
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/*
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* operating frequency f = fx
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* Change clock generator setting, if necessary
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*/
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/* Operating frequency f = fx
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Change clock generator setting, if necessary. */
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CKC &= 0xF8;
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/* From here onwards the X1 oscillator is supplied to the CPU */
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/* From here onwards the X1 oscillator is supplied to the CPU. */
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}
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#endif
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/* LED Port Initialization - set Port Register */
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/* LED port initialization - set port register. */
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P7 = 0x80;
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/* Set Port Mode Register */
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/* Set port mode register. */
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PM7 = 0x3F;
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/* Switch Pin Initialization - enable pull-up resistor */
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/* Switch pin initialization - enable pull-up resistor. */
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PU12_bit.no0 = 1;
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/* INTP0 is used by the button on the target board. */
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/* INTP0 disable */
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/* INTP0 disable. */
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PMK0 = 1;
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/* INTP0 IF clear */
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/* INTP0 IF clear. */
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PIF0 = 0;
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EGN0_bit.no0 = 1;
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/* INTP0 priority low */
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/* INTP0 priority low. */
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PPR10 = 0;
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PPR00 = 1;
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/* enable ext. INTP0 interrupt */
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/* Enable ext. INTP0 interrupt */
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PMK0 = 0;
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return pdTRUE;
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@ -304,13 +363,20 @@ unsigned portCHAR resetflag = RESF;
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void vRegTestError( void )
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{
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/* Called by the RegTest tasks if an error is found. lRegTestStatus is
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inspected by the check task. */
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sRegTestStatus = pdFAIL;
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/* Do not return from here as the reg test tasks clobber all registers so
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function calls may not function correctly. */
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for( ;; );
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}
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/*-----------------------------------------------------------*/
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void vApplicationStackOverflowHook( void )
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{
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/* This will get called if an overflow is detected in the stack of a task.
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Inspect pxCurrentTCB to see which was the offending task. */
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for( ;; );
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}
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Richard Barry
16 years ago