2 FreeRTOS V5.4.2 - Copyright (C) 2009 Real Time Engineers Ltd.
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4 This file is part of the FreeRTOS distribution.
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6 FreeRTOS is free software; you can redistribute it and/or modify it under
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7 the terms of the GNU General Public License (version 2) as published by the
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8 Free Software Foundation and modified by the FreeRTOS exception.
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9 **NOTE** The exception to the GPL is included to allow you to distribute a
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10 combined work that includes FreeRTOS without being obliged to provide the
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11 source code for proprietary components outside of the FreeRTOS kernel.
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12 Alternative commercial license and support terms are also available upon
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13 request. See the licensing section of http://www.FreeRTOS.org for full
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16 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT
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17 ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
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18 FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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21 You should have received a copy of the GNU General Public License along
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22 with FreeRTOS; if not, write to the Free Software Foundation, Inc., 59
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23 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
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26 ***************************************************************************
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28 * Looking for a quick start? Then check out the FreeRTOS eBook! *
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29 * See http://www.FreeRTOS.org/Documentation for details *
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31 ***************************************************************************
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35 Please ensure to read the configuration and relevant port sections of the
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36 online documentation.
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38 http://www.FreeRTOS.org - Documentation, latest information, license and
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41 http://www.SafeRTOS.com - A version that is certified for use in safety
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44 http://www.OpenRTOS.com - Commercial support, development, porting,
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45 licensing and training services.
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50 * Creates all the demo application tasks, then starts the scheduler. The WEB
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51 * documentation provides more details of the standard demo application tasks.
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52 * In addition to the standard demo tasks, the following tasks and tests are
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53 * defined and/or created within this file:
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55 * "Check" task - This only executes every five seconds but has a high priority
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56 * to ensure it gets processor time. Its main function is to check that all the
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57 * standard demo tasks are still operational. While no errors have been
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58 * discovered the check task will toggle an LED every 5 seconds - the toggle
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59 * rate increasing to 500ms being a visual indication that at least one task has
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60 * reported unexpected behaviour.
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62 * "Reg test" tasks - These fill the registers with known values, then check
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63 * that each register still contains its expected value. Each task uses
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64 * different values. The tasks run with very low priority so get preempted very
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65 * frequently. A register containing an unexpected value is indicative of an
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66 * error in the context switching mechanism.
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70 /* Standard includes. */
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73 /* Scheduler includes. */
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74 #include "FreeRTOS.h"
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79 /* Demo app includes. */
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81 #include "crflash.h"
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82 #include "partest.h"
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83 #include "semtest.h"
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84 #include "GenQTest.h"
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86 #include "comtest2.h"
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88 /*-----------------------------------------------------------*/
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90 /* The time between cycles of the 'check' functionality - as described at the
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91 top of this file. */
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92 #define mainNO_ERROR_PERIOD ( ( portTickType ) 5000 / portTICK_RATE_MS )
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94 /* The rate at which the LED controlled by the 'check' task will flash should an
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95 error have been detected. */
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96 #define mainERROR_PERIOD ( ( portTickType ) 500 / portTICK_RATE_MS )
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98 /* The LED controlled by the 'check' task. */
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99 #define mainCHECK_LED ( 3 )
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101 /* ComTest constants - there is no free LED for the comtest tasks. */
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102 #define mainCOM_TEST_BAUD_RATE ( ( unsigned portLONG ) 19200 )
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103 #define mainCOM_TEST_LED ( 5 )
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105 /* Task priorities. */
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106 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
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107 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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108 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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109 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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110 #define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )
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112 /* Co-routines are used to flash the LEDs. */
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113 #define mainNUM_FLASH_CO_ROUTINES ( 3 )
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115 /* The baud rate used by the comtest tasks. */
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116 #define mainBAUD_RATE ( 38400 )
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118 /* There is no spare LED for the comtest tasks, so this is set to an invalid
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120 #define mainCOM_LED ( 4 )
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123 * Configure the hardware for the demo.
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125 static void prvSetupHardware( void );
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128 * Implements the 'check' task functionality as described at the top of this
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131 static void prvCheckTask( void *pvParameters );
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134 * Implement the 'Reg test' functionality as described at the top of this file.
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136 static void vRegTest1Task( void *pvParameters );
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137 static void vRegTest2Task( void *pvParameters );
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139 /*-----------------------------------------------------------*/
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141 /* Counters used to detect errors within the reg test tasks. */
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142 static volatile unsigned portLONG ulRegTest1Counter = 0x11111111, ulRegTest2Counter = 0x22222222;
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144 /*-----------------------------------------------------------*/
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148 /* Setup the hardware ready for this demo. */
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149 prvSetupHardware();
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151 /* Start the standard demo tasks. */
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152 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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153 vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
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154 vStartQueuePeekTasks();
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155 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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156 vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainBAUD_RATE, mainCOM_LED );
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158 /* For demo purposes use some co-routines to flash the LEDs. */
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159 vStartFlashCoRoutines( mainNUM_FLASH_CO_ROUTINES );
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161 /* Create the check task. */
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162 xTaskCreate( prvCheckTask, ( signed portCHAR * ) "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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165 /* Start the reg test tasks - defined in this file. */
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166 xTaskCreate( vRegTest1Task, ( signed portCHAR * ) "Reg1", configMINIMAL_STACK_SIZE, ( void * ) &ulRegTest1Counter, tskIDLE_PRIORITY, NULL );
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167 xTaskCreate( vRegTest2Task, ( signed portCHAR * ) "Reg2", configMINIMAL_STACK_SIZE, ( void * ) &ulRegTest2Counter, tskIDLE_PRIORITY, NULL );
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169 /* Start the scheduler. */
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170 vTaskStartScheduler();
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172 /* Will only get here if there was insufficient memory to create the idle
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178 /*-----------------------------------------------------------*/
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180 static void prvCheckTask( void *pvParameters )
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182 unsigned portLONG ulTicksToWait = mainNO_ERROR_PERIOD, ulError = 0, ulLastRegTest1Count = 0, ulLastRegTest2Count = 0;
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183 portTickType xLastExecutionTime;
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184 volatile unsigned portBASE_TYPE uxUnusedStack;
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186 ( void ) pvParameters;
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188 /* Initialise the variable used to control our iteration rate prior to
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190 xLastExecutionTime = xTaskGetTickCount();
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194 /* Wait until it is time to run the tests again. */
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195 vTaskDelayUntil( &xLastExecutionTime, ulTicksToWait );
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197 /* Has an error been found in any task? */
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198 if( xAreGenericQueueTasksStillRunning() != pdTRUE )
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203 if( xAreQueuePeekTasksStillRunning() != pdTRUE )
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208 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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213 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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218 if( xAreComTestTasksStillRunning() != pdTRUE )
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223 if( ulLastRegTest1Count == ulRegTest1Counter )
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225 ulError |= 0x1000UL;
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228 if( ulLastRegTest2Count == ulRegTest2Counter )
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230 ulError |= 0x1000UL;
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233 ulLastRegTest1Count = ulRegTest1Counter;
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234 ulLastRegTest2Count = ulRegTest2Counter;
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236 /* If an error has been found then increase our cycle rate, and in so
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237 doing increase the rate at which the check task LED toggles. */
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240 ulTicksToWait = mainERROR_PERIOD;
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243 /* Toggle the LED each itteration. */
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244 vParTestToggleLED( mainCHECK_LED );
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246 /* For demo only - how much unused stack does this task have? */
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247 uxUnusedStack = uxTaskGetStackHighWaterMark( NULL );
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250 /*-----------------------------------------------------------*/
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252 void prvSetupHardware( void )
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254 portDISABLE_INTERRUPTS();
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256 /* Setup the port used to toggle LEDs. */
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257 vParTestInitialise();
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259 /*-----------------------------------------------------------*/
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261 void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed portCHAR *pcTaskName )
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263 /* This will get called if a stack overflow is detected during the context
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264 switch. Set configCHECK_FOR_STACK_OVERFLOWS to 2 to also check for stack
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265 problems within nested interrupts, but only do this for debug purposes as
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266 it will increase the context switch time. */
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269 ( void ) pcTaskName;
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275 /*-----------------------------------------------------------*/
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277 void vApplicationIdleHook( void );
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278 void vApplicationIdleHook( void )
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280 /* The co-routines run in the idle task. */
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281 vCoRoutineSchedule();
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283 /*-----------------------------------------------------------*/
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287 /* To keep the linker happy only as the libraries have been removed from
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292 /*-----------------------------------------------------------*/
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294 static void vRegTest1Task( void *pvParameters )
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296 /* Sanity check - did we receive the parameter expected? */
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297 if( pvParameters != &ulRegTest1Counter )
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299 /* Change here so the check task can detect that an error occurred. */
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305 /* Set all the registers to known values, then check that each retains its
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306 expected value - as described at the top of this file. If an error is
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307 found then the loop counter will no longer be incremented allowing the check
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308 task to recognise the error. */
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309 asm volatile ( "reg_test_1_start: \n\t"
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310 " moveq #1, d0 \n\t"
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311 " moveq #2, d1 \n\t"
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312 " moveq #3, d2 \n\t"
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313 " moveq #4, d3 \n\t"
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314 " moveq #5, d4 \n\t"
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315 " moveq #6, d5 \n\t"
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316 " moveq #7, d6 \n\t"
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317 " moveq #8, d7 \n\t"
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318 " move #9, a0 \n\t"
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319 " move #10, a1 \n\t"
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320 " move #11, a2 \n\t"
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321 " move #12, a3 \n\t"
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322 " move #13, a4 \n\t"
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323 " move #14, a5 \n\t"
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324 " move #15, a6 \n\t"
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326 " cmpi.l #1, d0 \n\t"
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327 " bne reg_test_1_error \n\t"
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328 " cmpi.l #2, d1 \n\t"
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329 " bne reg_test_1_error \n\t"
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330 " cmpi.l #3, d2 \n\t"
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331 " bne reg_test_1_error \n\t"
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332 " cmpi.l #4, d3 \n\t"
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333 " bne reg_test_1_error \n\t"
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334 " cmpi.l #5, d4 \n\t"
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335 " bne reg_test_1_error \n\t"
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336 " cmpi.l #6, d5 \n\t"
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337 " bne reg_test_1_error \n\t"
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338 " cmpi.l #7, d6 \n\t"
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339 " bne reg_test_1_error \n\t"
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340 " cmpi.l #8, d7 \n\t"
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341 " bne reg_test_1_error \n\t"
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342 " move a0, d0 \n\t"
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343 " cmpi.l #9, d0 \n\t"
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344 " bne reg_test_1_error \n\t"
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345 " move a1, d0 \n\t"
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346 " cmpi.l #10, d0 \n\t"
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347 " bne reg_test_1_error \n\t"
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348 " move a2, d0 \n\t"
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349 " cmpi.l #11, d0 \n\t"
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350 " bne reg_test_1_error \n\t"
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351 " move a3, d0 \n\t"
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352 " cmpi.l #12, d0 \n\t"
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353 " bne reg_test_1_error \n\t"
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354 " move a4, d0 \n\t"
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355 " cmpi.l #13, d0 \n\t"
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356 " bne reg_test_1_error \n\t"
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357 " move a5, d0 \n\t"
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358 " cmpi.l #14, d0 \n\t"
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359 " bne reg_test_1_error \n\t"
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360 " move a6, d0 \n\t"
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361 " cmpi.l #15, d0 \n\t"
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362 " bne reg_test_1_error \n\t"
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363 " move ulRegTest1Counter, d0 \n\t"
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364 " addq #1, d0 \n\t"
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365 " move d0, ulRegTest1Counter \n\t"
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366 " bra reg_test_1_start \n\t"
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367 "reg_test_1_error: \n\t"
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368 " bra reg_test_1_error \n\t"
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371 /*-----------------------------------------------------------*/
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373 static void vRegTest2Task( void *pvParameters )
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375 /* Sanity check - did we receive the parameter expected? */
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376 if( pvParameters != &ulRegTest2Counter )
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378 /* Change here so the check task can detect that an error occurred. */
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384 /* Set all the registers to known values, then check that each retains its
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385 expected value - as described at the top of this file. If an error is
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386 found then the loop counter will no longer be incremented allowing the check
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387 task to recognise the error. */
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388 asm volatile ( "reg_test_2_start: \n\t"
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389 " moveq #10, d0 \n\t"
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390 " moveq #20, d1 \n\t"
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391 " moveq #30, d2 \n\t"
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392 " moveq #40, d3 \n\t"
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393 " moveq #50, d4 \n\t"
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394 " moveq #60, d5 \n\t"
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395 " moveq #70, d6 \n\t"
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396 " moveq #80, d7 \n\t"
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397 " move #90, a0 \n\t"
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398 " move #100, a1 \n\t"
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399 " move #110, a2 \n\t"
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400 " move #120, a3 \n\t"
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401 " move #130, a4 \n\t"
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402 " move #140, a5 \n\t"
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403 " move #150, a6 \n\t"
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405 " cmpi.l #10, d0 \n\t"
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406 " bne reg_test_2_error \n\t"
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407 " cmpi.l #20, d1 \n\t"
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408 " bne reg_test_2_error \n\t"
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409 " cmpi.l #30, d2 \n\t"
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410 " bne reg_test_2_error \n\t"
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411 " cmpi.l #40, d3 \n\t"
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412 " bne reg_test_2_error \n\t"
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413 " cmpi.l #50, d4 \n\t"
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414 " bne reg_test_2_error \n\t"
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415 " cmpi.l #60, d5 \n\t"
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416 " bne reg_test_2_error \n\t"
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417 " cmpi.l #70, d6 \n\t"
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418 " bne reg_test_2_error \n\t"
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419 " cmpi.l #80, d7 \n\t"
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420 " bne reg_test_2_error \n\t"
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421 " move a0, d0 \n\t"
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422 " cmpi.l #90, d0 \n\t"
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423 " bne reg_test_2_error \n\t"
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424 " move a1, d0 \n\t"
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425 " cmpi.l #100, d0 \n\t"
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426 " bne reg_test_2_error \n\t"
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427 " move a2, d0 \n\t"
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428 " cmpi.l #110, d0 \n\t"
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429 " bne reg_test_2_error \n\t"
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430 " move a3, d0 \n\t"
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431 " cmpi.l #120, d0 \n\t"
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432 " bne reg_test_2_error \n\t"
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433 " move a4, d0 \n\t"
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434 " cmpi.l #130, d0 \n\t"
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435 " bne reg_test_2_error \n\t"
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436 " move a5, d0 \n\t"
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437 " cmpi.l #140, d0 \n\t"
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438 " bne reg_test_2_error \n\t"
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439 " move a6, d0 \n\t"
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440 " cmpi.l #150, d0 \n\t"
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441 " bne reg_test_2_error \n\t"
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442 " move ulRegTest1Counter, d0 \n\t"
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443 " addq #1, d0 \n\t"
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444 " move d0, ulRegTest2Counter \n\t"
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445 " bra reg_test_2_start \n\t"
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446 "reg_test_2_error: \n\t"
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447 " bra reg_test_2_error \n\t"
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450 /*-----------------------------------------------------------*/
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projects / freertos / blob