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/*
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/*
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FreeRTOS V6.1.1 - Copyright (C) 2011 Real Time Engineers Ltd.
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FreeRTOS V6.1.1 - Copyright (C) 2011 Real Time Engineers Ltd.
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***************************************************************************
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***************************************************************************
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* *
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* *
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* If you are: *
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* If you are: *
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* *
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* *
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* + New to FreeRTOS, *
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* + New to FreeRTOS, *
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* + Wanting to learn FreeRTOS or multitasking in general quickly *
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* + Wanting to learn FreeRTOS or multitasking in general quickly *
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* + Looking for basic training, *
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* + Looking for basic training, *
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* + Wanting to improve your FreeRTOS skills and productivity *
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* + Wanting to improve your FreeRTOS skills and productivity *
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* *
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* *
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* then take a look at the FreeRTOS books - available as PDF or paperback *
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* then take a look at the FreeRTOS books - available as PDF or paperback *
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* *
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* *
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* "Using the FreeRTOS Real Time Kernel - a Practical Guide" *
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* "Using the FreeRTOS Real Time Kernel - a Practical Guide" *
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* http://www.FreeRTOS.org/Documentation *
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* http://www.FreeRTOS.org/Documentation *
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* *
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* *
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* A pdf reference manual is also available. Both are usually delivered *
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* A pdf reference manual is also available. Both are usually delivered *
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* to your inbox within 20 minutes to two hours when purchased between 8am *
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* to your inbox within 20 minutes to two hours when purchased between 8am *
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* and 8pm GMT (although please allow up to 24 hours in case of *
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* and 8pm GMT (although please allow up to 24 hours in case of *
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* exceptional circumstances). Thank you for your support! *
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* exceptional circumstances). Thank you for your support! *
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* *
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* *
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***************************************************************************
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***************************************************************************
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This file is part of the FreeRTOS distribution.
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This file is part of the FreeRTOS distribution.
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FreeRTOS is free software; you can redistribute it and/or modify it under
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FreeRTOS is free software; you can redistribute it and/or modify it under
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the terms of the GNU General Public License (version 2) as published by the
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the terms of the GNU General Public License (version 2) as published by the
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Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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***NOTE*** The exception to the GPL is included to allow you to distribute
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***NOTE*** The exception to the GPL is included to allow you to distribute
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a combined work that includes FreeRTOS without being obliged to provide the
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a combined work that includes FreeRTOS without being obliged to provide the
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source code for proprietary components outside of the FreeRTOS kernel.
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source code for proprietary components outside of the FreeRTOS kernel.
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FreeRTOS is distributed in the hope that it will be useful, but WITHOUT
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FreeRTOS is distributed in the hope that it will be useful, but WITHOUT
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ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
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ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
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FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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more details. You should have received a copy of the GNU General Public
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more details. You should have received a copy of the GNU General Public
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License and the FreeRTOS license exception along with FreeRTOS; if not it
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License and the FreeRTOS license exception along with FreeRTOS; if not it
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can be viewed here: http://www.freertos.org/a00114.html and also obtained
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can be viewed here: http://www.freertos.org/a00114.html and also obtained
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by writing to Richard Barry, contact details for whom are available on the
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by writing to Richard Barry, contact details for whom are available on the
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FreeRTOS WEB site.
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FreeRTOS WEB site.
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1 tab == 4 spaces!
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1 tab == 4 spaces!
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http://www.FreeRTOS.org - Documentation, latest information, license and
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http://www.FreeRTOS.org - Documentation, latest information, license and
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contact details.
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contact details.
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http://www.SafeRTOS.com - A version that is certified for use in safety
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http://www.SafeRTOS.com - A version that is certified for use in safety
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critical systems.
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critical systems.
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http://www.OpenRTOS.com - Commercial support, development, porting,
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http://www.OpenRTOS.com - Commercial support, development, porting,
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licensing and training services.
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licensing and training services.
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*/
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*/
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#include <stdlib.h>
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#include <stdlib.h>
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#include <string.h>
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#include <string.h>
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/* Architecture specific header files. */
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/* Architecture specific header files. */
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#include "support.h"
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#include "support.h"
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#include "spr_defs.h"
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#include "spr_defs.h"
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/* Scheduler header files. */
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/* Scheduler header files. */
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#include "FreeRTOS.h"
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#include "FreeRTOS.h"
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#include "task.h"
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#include "task.h"
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#include "queue.h"
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#include "queue.h"
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/* Demo application includes. */
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/* Demo application includes. */
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#include "serial.h"
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#include "serial.h"
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#include "partest.h"
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#include "partest.h"
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#include "flash.h"
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#include "flash.h"
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#include "integer.h"
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#include "integer.h"
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#include "blocktim.h"
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#include "blocktim.h"
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#include "BlockQ.h"
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#include "BlockQ.h"
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#include "comtest2.h"
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#include "comtest2.h"
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#include "dynamic.h"
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#include "dynamic.h"
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#include "or32_dma.h"
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/* BSP headers. */
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/* BSP headers. */
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#include "support.h"
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#include "support.h"
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#include "board.h"
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#include "board.h"
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#include "uart.h"
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#include "uart.h"
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#include "gpio.h"
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#include "gpio.h"
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#include "dma.h"
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#include "interrupts.h"
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#include "interrupts.h"
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/* Demo application task priorities. */
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/* Demo application task priorities. */
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#define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 4 )
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#define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 4 )
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#define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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#define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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#define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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#define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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#define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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#define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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#define mainPRINT_STACK_SIZE ( ( unsigned short ) 64 )
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#define mainPRINT_STACK_SIZE ( ( unsigned short ) 64 )
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/* How often should we check the other tasks? */
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/* How often should we check the other tasks? */
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#define mainCHECK_TASK_CYCLE_TIME ( 3000 )
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#define mainCHECK_TASK_CYCLE_TIME ( 3000 )
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/* Baud rate used by the comtest tasks. */
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/* Baud rate used by the comtest tasks. */
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#define mainCOM_TEST_BAUD_RATE ( 115200 )
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#define mainCOM_TEST_BAUD_RATE ( 115200 )
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/* The LED used by the comtest tasks. See the comtest.c file for more
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/* The LED used by the comtest tasks. See the comtest.c file for more
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information. */
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information. */
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#define mainCOM_TEST_LED ( 7 )
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#define mainCOM_TEST_LED ( 7 )
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/*-----------------------------------------------------------*/
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/*-----------------------------------------------------------*/
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/*
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/*
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* The task that executes at the highest priority and checks the operation of
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* The task that executes at the highest priority and checks the operation of
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* all the other tasks in the system. See the description at the top of the
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* all the other tasks in the system. See the description at the top of the
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* file.
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* file.
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*/
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*/
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static void vCheckTask( void *pvParameters );
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static void vCheckTask( void *pvParameters );
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/*
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/*
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* ST provided routine to configure the processor.
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* ST provided routine to configure the processor.
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*/
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*/
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static void prvSetupHardware(void);
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static void prvSetupHardware(void);
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void vApplicationIdleHook( void );
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void vApplicationIdleHook( void );
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void vApplicationTickHook( void );
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void vApplicationTickHook( void );
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void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed char *pcTaskName );
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void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed char *pcTaskName );
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void vApplicationMallocFailedHook( void );
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void vApplicationMallocFailedHook( void );
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/*-----------------------------------------------------------*/
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/*-----------------------------------------------------------*/
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/* Create all the demo application tasks, then start the scheduler. */
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/* Create all the demo application tasks, then start the scheduler. */
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int main( int argc, char **argv )
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int main( int argc, char **argv )
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{
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{
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argc = argc;
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argc = argc;
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argv = argv;
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argv = argv;
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/* Perform any hardware setup necessary. */
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/* Perform any hardware setup necessary. */
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prvSetupHardware();
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prvSetupHardware();
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vParTestInitialise();
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vParTestInitialise();
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/* Create the standard demo application tasks. See the WEB documentation
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/* Create the standard demo application tasks. See the WEB documentation
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for more information on these tasks. */
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for more information on these tasks. */
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vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
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vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
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vStartLEDFlashTasks( mainLED_TASK_PRIORITY );
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vStartLEDFlashTasks( mainLED_TASK_PRIORITY );
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vStartIntegerMathTasks( tskIDLE_PRIORITY );
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vStartIntegerMathTasks( tskIDLE_PRIORITY );
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vStartDmaDemoTasks( tskIDLE_PRIORITY );
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vCreateBlockTimeTasks();
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vCreateBlockTimeTasks();
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vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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vStartDynamicPriorityTasks();
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vStartDynamicPriorityTasks();
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/* Create the tasks defined within this file. */
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/* Create the tasks defined within this file. */
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xTaskCreate( vCheckTask, ( signed char * ) "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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xTaskCreate( vCheckTask, ( signed char * ) "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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vTaskStartScheduler();
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vTaskStartScheduler();
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/* Execution will only reach here if there was insufficient heap to
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/* Execution will only reach here if there was insufficient heap to
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start the scheduler. */
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start the scheduler. */
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return 0;
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return 0;
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}
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}
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/*-----------------------------------------------------------*/
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/*-----------------------------------------------------------*/
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static void vCheckTask( void *pvParameters )
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static void vCheckTask( void *pvParameters )
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{
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{
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static unsigned long ulErrorDetected = pdFALSE;
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static unsigned long ulErrorDetected = pdFALSE;
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portTickType xLastExecutionTime;
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portTickType xLastExecutionTime;
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/* prevent compiler warning */
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/* prevent compiler warning */
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pvParameters = pvParameters;
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pvParameters = pvParameters;
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/* Initialise xLastExecutionTime so the first call to vTaskDelayUntil()
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/* Initialise xLastExecutionTime so the first call to vTaskDelayUntil()
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works correctly. */
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works correctly. */
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xLastExecutionTime = xTaskGetTickCount();
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xLastExecutionTime = xTaskGetTickCount();
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for( ;; )
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for( ;; )
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{
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{
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/* Wait until it is time for the next cycle. */
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/* Wait until it is time for the next cycle. */
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vTaskDelayUntil( &xLastExecutionTime, mainCHECK_TASK_CYCLE_TIME );
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vTaskDelayUntil( &xLastExecutionTime, mainCHECK_TASK_CYCLE_TIME );
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/* Has an error been found in any of the standard demo tasks? */
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/* Has an error been found in any of the standard demo tasks? */
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if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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{
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{
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ulErrorDetected = pdTRUE;
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ulErrorDetected = pdTRUE;
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}
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}
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/* FIXME, xAreComTestTasksStillRunning assumed that UART TX is loopbacked to RX
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/* FIXME, xAreComTestTasksStillRunning assumed that UART TX is loopbacked to RX
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but, current Or1ksim does not surrpot UART loopback. so, ignore it.*/
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but, current Or1ksim does not surrpot UART loopback. so, ignore it.*/
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if( xAreComTestTasksStillRunning() != pdTRUE )
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if( xAreComTestTasksStillRunning() != pdTRUE )
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{
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{
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// ulErrorDetected = pdTRUE;
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// ulErrorDetected = pdTRUE;
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}
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}
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if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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{
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{
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ulErrorDetected = pdTRUE;
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ulErrorDetected = pdTRUE;
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}
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}
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if( xAreBlockingQueuesStillRunning() != pdTRUE )
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if( xAreBlockingQueuesStillRunning() != pdTRUE )
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{
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{
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ulErrorDetected = pdTRUE;
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ulErrorDetected = pdTRUE;
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}
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}
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if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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{
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{
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ulErrorDetected = pdTRUE;
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ulErrorDetected = pdTRUE;
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}
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}
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if( xAreDmaDemoTaskStillRunning() != pdTRUE )
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{
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ulErrorDetected = pdTRUE;
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}
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if(ulErrorDetected == pdTRUE)
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if(ulErrorDetected == pdTRUE)
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{
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{
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// something was wrong. report negative indicator
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// something was wrong. report negative indicator
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// const char *message = "vCheckTask Error detected!\n\r";
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// const char *message = "vCheckTask Error detected!\n\r";
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// vSerialPutString(NULL, (const signed char*)message, strlen(message));
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// vSerialPutString(NULL, (const signed char*)message, strlen(message));
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report(0xDEADBEEF);
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report(0xDEADBEEF);
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}
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}
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else
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else
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{
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{
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// we have no error. report positive indicator
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// we have no error. report positive indicator
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// const char *message = "vCheckTask OK!\n\r";
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// const char *message = "vCheckTask OK!\n\r";
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// vSerialPutString(NULL, (const signed char*)message, strlen(message));
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// vSerialPutString(NULL, (const signed char*)message, strlen(message));
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report(0x00000000);
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report(0x00000000);
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}
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}
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}
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}
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}
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}
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/*-----------------------------------------------------------*/
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/*-----------------------------------------------------------*/
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void prvSetupHardware( void )
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void prvSetupHardware( void )
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{
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{
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// UART controller use 25 Mhz Wishbone bus clock, define in board.h
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// UART controller use 25 Mhz Wishbone bus clock, define in board.h
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uart_init(0);
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uart_init(0);
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uart_rxint_enable(0);
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uart_rxint_enable(0);
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// Initialize DMA controller
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dma_init((void *)DMA_BASE);
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// Initialize internal Programmable Interrupt Controller
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// Initialize internal Programmable Interrupt Controller
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int_init();
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int_init();
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// GPIO Initialize
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// GPIO Initialize
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gpio_init(0);
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gpio_init(0);
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// set low 8 port is outout
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// set low 8 port is outout
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set_gpio_direction(0, 0xFFFFFF00);
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set_gpio_direction(0, 0xFFFFFF00);
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// enable IC/DC if present
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// enable IC/DC if present
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cache_init();
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cache_init();
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}
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}
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/*-----------------------------------------------------------*/
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/*-----------------------------------------------------------*/
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void vApplicationIdleHook( void )
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void vApplicationIdleHook( void )
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{
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{
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}
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}
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/*-----------------------------------------------------------*/
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/*-----------------------------------------------------------*/
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void vApplicationTickHook( void )
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void vApplicationTickHook( void )
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{
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{
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}
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}
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/*-----------------------------------------------------------*/
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/*-----------------------------------------------------------*/
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void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed char *pcTaskName )
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void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed char *pcTaskName )
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{
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{
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/* prevent compiler warning */
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/* prevent compiler warning */
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pxTask = pxTask;
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pxTask = pxTask;
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pcTaskName = pcTaskName;
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pcTaskName = pcTaskName;
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report(0x00000099);
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report(0x00000099);
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}
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}
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/*-----------------------------------------------------------*/
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/*-----------------------------------------------------------*/
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void vApplicationMallocFailedHook( void )
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void vApplicationMallocFailedHook( void )
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{
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{
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report(0x00000098);
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report(0x00000098);
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}
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}
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/*-----------------------------------------------------------*/
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/*-----------------------------------------------------------*/
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