2 FreeRTOS V5.4.1 - 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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82 #include "integer.h"
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84 #include "partest.h"
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85 #include "semtest.h"
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87 #include "GenQTest.h"
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89 #include "recmutex.h"
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90 #include "IntQueue.h"
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91 #include "comtest2.h"
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93 /*-----------------------------------------------------------*/
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95 /* The time between cycles of the 'check' functionality - as described at the
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96 top of this file. */
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97 #define mainNO_ERROR_PERIOD ( ( portTickType ) 5000 / portTICK_RATE_MS )
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99 /* The rate at which the LED controlled by the 'check' task will flash should an
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100 error have been detected. */
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101 #define mainERROR_PERIOD ( ( portTickType ) 500 / portTICK_RATE_MS )
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103 /* The LED controlled by the 'check' task. */
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104 #define mainCHECK_LED ( 3 )
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106 /* ComTest constants - there is no free LED for the comtest tasks. */
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107 #define mainCOM_TEST_BAUD_RATE ( ( unsigned portLONG ) 19200 )
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108 #define mainCOM_TEST_LED ( 5 )
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110 /* Task priorities. */
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111 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
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112 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
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113 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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114 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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115 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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116 #define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
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117 #define mainINTEGER_TASK_PRIORITY ( tskIDLE_PRIORITY )
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118 #define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )
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121 * Configure the hardware for the demo.
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123 static void prvSetupHardware( void );
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126 * Implements the 'check' task functionality as described at the top of this
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129 static void prvCheckTask( void *pvParameters );
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132 * Implement the 'Reg test' functionality as described at the top of this file.
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134 static void vRegTest1Task( void *pvParameters );
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135 static void vRegTest2Task( void *pvParameters );
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137 /*-----------------------------------------------------------*/
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139 /* Counters used to detect errors within the reg test tasks. */
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140 static volatile unsigned portLONG ulRegTest1Counter = 0x11111111, ulRegTest2Counter = 0x22222222;
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142 /*-----------------------------------------------------------*/
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146 /* Setup the hardware ready for this demo. */
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147 prvSetupHardware();
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149 /* Start the standard demo tasks. */
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150 vStartLEDFlashTasks( tskIDLE_PRIORITY );
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151 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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152 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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153 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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154 vStartIntegerMathTasks( mainINTEGER_TASK_PRIORITY );
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155 vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
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156 vStartQueuePeekTasks();
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157 vStartRecursiveMutexTasks();
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158 vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
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159 vStartInterruptQueueTasks();
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161 /* Start the reg test tasks - defined in this file. */
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162 xTaskCreate( vRegTest1Task, ( signed portCHAR * ) "Reg1", configMINIMAL_STACK_SIZE, ( void * ) &ulRegTest1Counter, tskIDLE_PRIORITY, NULL );
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163 xTaskCreate( vRegTest2Task, ( signed portCHAR * ) "Reg2", configMINIMAL_STACK_SIZE, ( void * ) &ulRegTest2Counter, tskIDLE_PRIORITY, NULL );
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165 /* Create the check task. */
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166 xTaskCreate( prvCheckTask, ( signed portCHAR * ) "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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168 /* The suicide tasks must be created last as they need to know how many
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169 tasks were running prior to their creation in order to ascertain whether
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170 or not the correct/expected number of tasks are running at any given time. */
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171 vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
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173 /* Start the scheduler. */
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174 vTaskStartScheduler();
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176 /* Will only get here if there was insufficient memory to create the idle
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180 /*-----------------------------------------------------------*/
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182 static void prvCheckTask( void *pvParameters )
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184 unsigned ulTicksToWait = mainNO_ERROR_PERIOD, ulError = 0, ulLastRegTest1Count = 0, ulLastRegTest2Count = 0;
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185 portTickType xLastExecutionTime;
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187 ( void ) pvParameters;
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189 /* Initialise the variable used to control our iteration rate prior to
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191 xLastExecutionTime = xTaskGetTickCount();
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195 /* Wait until it is time to run the tests again. */
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196 vTaskDelayUntil( &xLastExecutionTime, ulTicksToWait );
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198 /* Has an error been found in any task? */
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199 if( xAreGenericQueueTasksStillRunning() != pdTRUE )
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204 if( xAreQueuePeekTasksStillRunning() != pdTRUE )
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209 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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214 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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219 if( xArePollingQueuesStillRunning() != pdTRUE )
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224 if( xIsCreateTaskStillRunning() != pdTRUE )
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229 if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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231 ulError |= 0x100UL;
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234 if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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236 ulError |= 0x200UL;
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239 if( xAreComTestTasksStillRunning() != pdTRUE )
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241 ulError |= 0x400UL;
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244 if( xAreIntQueueTasksStillRunning() != pdTRUE )
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246 ulError |= 0x800UL;
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249 if( ulLastRegTest1Count == ulRegTest1Counter )
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251 ulError |= 0x1000UL;
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254 if( ulLastRegTest2Count == ulRegTest2Counter )
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256 ulError |= 0x1000UL;
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259 ulLastRegTest1Count = ulRegTest1Counter;
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260 ulLastRegTest2Count = ulRegTest2Counter;
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262 /* If an error has been found then increase our cycle rate, and in so
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263 going increase the rate at which the check task LED toggles. */
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266 ulTicksToWait = mainERROR_PERIOD;
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269 /* Toggle the LED each itteration. */
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270 vParTestToggleLED( mainCHECK_LED );
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273 /*-----------------------------------------------------------*/
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275 void prvSetupHardware( void )
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277 extern void mcf5xxx_wr_cacr( unsigned portLONG );
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279 portDISABLE_INTERRUPTS();
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281 /* Enable the cache. */
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282 mcf5xxx_wr_cacr( MCF5XXX_CACR_CENB | MCF5XXX_CACR_CINV | MCF5XXX_CACR_DISD | MCF5XXX_CACR_CEIB | MCF5XXX_CACR_CLNF_00 );
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283 asm volatile( "NOP" ); /* As per errata. */
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285 /* Multiply 8Mhz reference crystal by 8 to achieve system clock of 64Mhz. */
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286 MCF_CLOCK_SYNCR = MCF_CLOCK_SYNCR_MFD( 2 );
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288 /* Wait for PLL to lock. */
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289 while( !( MCF_CLOCK_SYNSR & MCF_CLOCK_SYNSR_LOCK ) )
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291 __asm__ volatile ( "NOP" );
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294 /* Setup the port used to toggle LEDs. */
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295 vParTestInitialise();
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297 /*-----------------------------------------------------------*/
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299 void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed portCHAR *pcTaskName )
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301 /* This will get called if a stack overflow is detected during the context
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302 switch. Set configCHECK_FOR_STACK_OVERFLOWS to 2 to also check for stack
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303 problems within nested interrupts, but only do this for debug purposes as
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304 it will increase the context switch time. */
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307 ( void ) pcTaskName;
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311 /*-----------------------------------------------------------*/
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313 static void vRegTest1Task( void *pvParameters )
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315 /* Sanity check - did we receive the parameter expected? */
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316 if( pvParameters != &ulRegTest1Counter )
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318 /* Change here so the check task can detect that an error occurred. */
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322 /* Set all the registers to known values, then check that each retains its
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323 expected value - as described at the top of this file. If an error is
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324 found then the loop counter will no longer be incremented allowing the check
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325 task to recognise the error. */
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326 asm volatile ( "reg_test_1_start: \n\t"
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327 " moveq #1, %d0 \n\t"
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328 " moveq #2, %d1 \n\t"
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329 " moveq #3, %d2 \n\t"
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330 " moveq #4, %d3 \n\t"
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331 " moveq #5, %d4 \n\t"
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332 " moveq #6, %d5 \n\t"
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333 " moveq #7, %d6 \n\t"
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334 " moveq #8, %d7 \n\t"
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335 " move #9, %a0 \n\t"
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336 " move #10, %a1 \n\t"
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337 " move #11, %a2 \n\t"
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338 " move #12, %a3 \n\t"
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339 " move #13, %a4 \n\t"
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340 " move #14, %a5 \n\t"
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341 " move #15, %a6 \n\t"
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343 " cmpi.l #1, %d0 \n\t"
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344 " bne reg_test_1_error \n\t"
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345 " cmpi.l #2, %d1 \n\t"
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346 " bne reg_test_1_error \n\t"
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347 " cmpi.l #3, %d2 \n\t"
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348 " bne reg_test_1_error \n\t"
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349 " cmpi.l #4, %d3 \n\t"
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350 " bne reg_test_1_error \n\t"
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351 " cmpi.l #5, %d4 \n\t"
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352 " bne reg_test_1_error \n\t"
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353 " cmpi.l #6, %d5 \n\t"
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354 " bne reg_test_1_error \n\t"
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355 " cmpi.l #7, %d6 \n\t"
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356 " bne reg_test_1_error \n\t"
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357 " cmpi.l #8, %d7 \n\t"
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358 " bne reg_test_1_error \n\t"
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359 " move %a0, %d0 \n\t"
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360 " cmpi.l #9, %d0 \n\t"
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361 " bne reg_test_1_error \n\t"
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362 " move %a1, %d0 \n\t"
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363 " cmpi.l #10, %d0 \n\t"
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364 " bne reg_test_1_error \n\t"
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365 " move %a2, %d0 \n\t"
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366 " cmpi.l #11, %d0 \n\t"
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367 " bne reg_test_1_error \n\t"
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368 " move %a3, %d0 \n\t"
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369 " cmpi.l #12, %d0 \n\t"
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370 " bne reg_test_1_error \n\t"
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371 " move %a4, %d0 \n\t"
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372 " cmpi.l #13, %d0 \n\t"
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373 " bne reg_test_1_error \n\t"
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374 " move %a5, %d0 \n\t"
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375 " cmpi.l #14, %d0 \n\t"
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376 " bne reg_test_1_error \n\t"
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377 " move %a6, %d0 \n\t"
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378 " cmpi.l #15, %d0 \n\t"
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379 " bne reg_test_1_error \n\t"
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380 " movel ulRegTest1Counter, %d0 \n\t"
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381 " addql #1, %d0 \n\t"
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382 " movel %d0, ulRegTest1Counter \n\t"
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383 " bra reg_test_1_start \n\t"
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384 "reg_test_1_error: \n\t"
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385 " bra reg_test_1_error \n\t"
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388 /*-----------------------------------------------------------*/
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390 static void vRegTest2Task( void *pvParameters )
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392 /* Sanity check - did we receive the parameter expected? */
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393 if( pvParameters != &ulRegTest2Counter )
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395 /* Change here so the check task can detect that an error occurred. */
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399 /* Set all the registers to known values, then check that each retains its
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400 expected value - as described at the top of this file. If an error is
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401 found then the loop counter will no longer be incremented allowing the check
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402 task to recognise the error. */
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403 asm volatile ( "reg_test_2_start: \n\t"
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404 " moveq #10, %d0 \n\t"
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405 " moveq #20, %d1 \n\t"
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406 " moveq #30, %d2 \n\t"
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407 " moveq #40, %d3 \n\t"
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408 " moveq #50, %d4 \n\t"
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409 " moveq #60, %d5 \n\t"
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410 " moveq #70, %d6 \n\t"
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411 " moveq #80, %d7 \n\t"
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412 " move #90, %a0 \n\t"
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413 " move #100, %a1 \n\t"
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414 " move #110, %a2 \n\t"
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415 " move #120, %a3 \n\t"
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416 " move #130, %a4 \n\t"
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417 " move #140, %a5 \n\t"
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418 " move #150, %a6 \n\t"
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420 " cmpi.l #10, %d0 \n\t"
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421 " bne reg_test_2_error \n\t"
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422 " cmpi.l #20, %d1 \n\t"
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423 " bne reg_test_2_error \n\t"
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424 " cmpi.l #30, %d2 \n\t"
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425 " bne reg_test_2_error \n\t"
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426 " cmpi.l #40, %d3 \n\t"
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427 " bne reg_test_2_error \n\t"
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428 " cmpi.l #50, %d4 \n\t"
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429 " bne reg_test_2_error \n\t"
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430 " cmpi.l #60, %d5 \n\t"
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431 " bne reg_test_2_error \n\t"
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432 " cmpi.l #70, %d6 \n\t"
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433 " bne reg_test_2_error \n\t"
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434 " cmpi.l #80, %d7 \n\t"
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435 " bne reg_test_2_error \n\t"
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436 " move %a0, %d0 \n\t"
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437 " cmpi.l #90, %d0 \n\t"
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438 " bne reg_test_2_error \n\t"
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439 " move %a1, %d0 \n\t"
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440 " cmpi.l #100, %d0 \n\t"
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441 " bne reg_test_2_error \n\t"
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442 " move %a2, %d0 \n\t"
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443 " cmpi.l #110, %d0 \n\t"
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444 " bne reg_test_2_error \n\t"
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445 " move %a3, %d0 \n\t"
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446 " cmpi.l #120, %d0 \n\t"
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447 " bne reg_test_2_error \n\t"
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448 " move %a4, %d0 \n\t"
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449 " cmpi.l #130, %d0 \n\t"
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450 " bne reg_test_2_error \n\t"
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451 " move %a5, %d0 \n\t"
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452 " cmpi.l #140, %d0 \n\t"
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453 " bne reg_test_2_error \n\t"
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454 " move %a6, %d0 \n\t"
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455 " cmpi.l #150, %d0 \n\t"
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456 " bne reg_test_2_error \n\t"
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457 " movel ulRegTest1Counter, %d0 \n\t"
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458 " addql #1, %d0 \n\t"
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459 " movel %d0, ulRegTest2Counter \n\t"
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460 " bra reg_test_2_start \n\t"
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461 "reg_test_2_error: \n\t"
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462 " bra reg_test_2_error \n\t"
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465 /*-----------------------------------------------------------*/
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