2 FreeRTOS.org V4.5.0 - Copyright (C) 2003-2007 Richard Barry.
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4 This file is part of the FreeRTOS.org distribution.
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6 FreeRTOS.org is free software; you can redistribute it and/or modify
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7 it under the terms of the GNU General Public License as published by
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8 the Free Software Foundation; either version 2 of the License, or
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9 (at your option) any later version.
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11 FreeRTOS.org is distributed in the hope that it will be useful,
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12 but WITHOUT ANY WARRANTY; without even the implied warranty of
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13 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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14 GNU General Public License for more details.
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16 You should have received a copy of the GNU General Public License
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17 along with FreeRTOS.org; if not, write to the Free Software
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18 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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20 A special exception to the GPL can be applied should you wish to distribute
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21 a combined work that includes FreeRTOS.org, without being obliged to provide
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22 the source code for any proprietary components. See the licensing section
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23 of http://www.FreeRTOS.org for full details of how and when the exception
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26 ***************************************************************************
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27 See http://www.FreeRTOS.org for documentation, latest information, license
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28 and contact details. Please ensure to read the configuration and relevant
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29 port sections of the online documentation.
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31 Also see http://www.SafeRTOS.com for an IEC 61508 compliant version along
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32 with commercial development and support options.
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33 ***************************************************************************
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37 * Creates all the demo application tasks, then starts the scheduler. The WEB
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38 * documentation provides more details of the standard demo application tasks.
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40 * In addition to the standard tasks, main() creates two "Register Check"
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41 * tasks. These tasks write known values into every general purpose register,
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42 * then check each register to ensure it still contains the expected (written)
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43 * value. The register check tasks operate at the idle priority so will get
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44 * repeatedly preempted. A register being found to contain an incorrect value
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45 * following such a preemption would be indicative of an error in the context
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48 * Main.c also creates a task called "Check". This only executes every three
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49 * seconds but has the highest priority so is guaranteed to get processor time.
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50 * Its main function is to check that all the other tasks are still operational.
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51 * Each task (other than the "flash" tasks) maintains a unique count that is
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52 * incremented each time the task successfully completes its function. Should
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53 * any error occur within such a task the count is permanently halted. The
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54 * check task inspects the count of each task to ensure it has changed since
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55 * the last time the check task executed. If all the count variables have
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56 * changed all the tasks are still executing error free, and the check task
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57 * toggles the onboard LED. Should any task contain an error at any time
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58 * the LED toggle rate will change from 3 seconds to 500ms.
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62 /* Scheduler includes. */
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63 #include "FreeRTOS.h"
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66 /* Demo application includes. */
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67 #include "ParTest.h"
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69 #include "comtest2.h"
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70 #include "integer.h"
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71 #include "semtest.h"
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73 #include "dynamic.h"
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76 /* Hardware library includes. */
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79 /* The rate at which the 'check' LED will flash when no errors have been
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81 #define mainNO_ERROR_CHECK_PERIOD 3000
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83 /* The rate at which the 'check' LED will flash when an error has been
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84 detected in one of the demo tasks. */
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85 #define mainERROR_CHECK_PERIOD 500
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87 /* Demo application task priorities. */
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88 #define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
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89 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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90 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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91 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
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92 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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93 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
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95 /* Software cannot influence the BAUD rate used by the simple UART
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97 #define mainBAUD_RATE 0
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99 /* The LED flashed by the 'check' task to indicate the system status. */
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100 #define mainCHECK_TASK_LED 3
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102 /* The first LED flashed by the COM port test tasks. LED mainCOM_TEST_LED + 1
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103 will also be used. */
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104 #define mainCOM_TEST_LED 4
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106 /* The register test task does not make any function calls so does not require
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107 much stack at all. */
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108 #define mainTINY_STACK 70
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111 * The task that executes at the highest priority and calls
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112 * prvCheckOtherTasksAreStillRunning(). See the description at the top
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115 static void vErrorChecks( void *pvParameters );
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118 * Checks that all the demo application tasks are still executing without error
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119 * - as described at the top of the file.
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121 static portBASE_TYPE prvCheckOtherTasksAreStillRunning( void );
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124 * The register test task as described at the top of this file.
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126 static void vRegisterTest( void *pvParameters );
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129 * Perform any necessary hardware configuration.
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131 static void prvSetupHardware( void );
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133 /* Set to pdFAIL should an error be discovered in the register test tasks. */
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134 static unsigned portLONG ulRegisterTestStatus = pdPASS;
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135 const unsigned portLONG *pulStatusAddr = &ulRegisterTestStatus;
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137 /*-----------------------------------------------------------*/
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140 * Create all the demo tasks - then start the scheduler.
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144 /* When re-starting a debug session (rather than cold booting) we want
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145 to ensure the installed interrupt handlers do not execute until after the
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146 scheduler has been started. */
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147 portDISABLE_INTERRUPTS();
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149 prvSetupHardware();
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151 /* Start the standard demo application tasks. */
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152 vStartLEDFlashTasks( mainLED_TASK_PRIORITY );
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153 vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainBAUD_RATE, mainCOM_TEST_LED );
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154 vStartIntegerMathTasks( tskIDLE_PRIORITY );
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155 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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156 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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157 vStartDynamicPriorityTasks();
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158 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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160 /* Create two register check tasks - using a different parameter for each.
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161 The parameter is used to generate the known values written to the registers. */
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162 #if configUSE_PREEMPTION == 1
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163 xTaskCreate( vRegisterTest, "Reg1", mainTINY_STACK, ( void * ) 10, tskIDLE_PRIORITY, NULL );
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164 xTaskCreate( vRegisterTest, "Reg2", mainTINY_STACK, ( void * ) 20, tskIDLE_PRIORITY, NULL );
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167 /* Create the 'check' task that is defined in this file. */
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168 xTaskCreate( vErrorChecks, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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170 /* Finally start the scheduler. */
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171 vTaskStartScheduler();
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173 /* Should not get here as the processor is now under control of the
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178 /*-----------------------------------------------------------*/
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180 static void vErrorChecks( void *pvParameters )
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182 portTickType xDelayPeriod = mainNO_ERROR_CHECK_PERIOD;
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184 /* The parameters are not used. */
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185 ( void ) pvParameters;
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187 /* Cycle for ever, delaying then checking all the other tasks are still
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188 operating without error. The delay period used will depend on whether
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189 or not an error has been discovered in one of the demo tasks. */
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192 vTaskDelay( xDelayPeriod );
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193 if( !prvCheckOtherTasksAreStillRunning() )
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195 /* An error has been found. Shorten the delay period to make
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196 the LED flash faster. */
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197 xDelayPeriod = mainERROR_CHECK_PERIOD;
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200 vParTestToggleLED( mainCHECK_TASK_LED );
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203 /*-----------------------------------------------------------*/
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205 static portBASE_TYPE prvCheckOtherTasksAreStillRunning( void )
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207 static portBASE_TYPE xAllTestsPass = pdTRUE;
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209 /* Return pdFALSE if any demo application task set has encountered
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212 if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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214 xAllTestsPass = pdFALSE;
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217 if( xAreComTestTasksStillRunning() != pdTRUE )
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219 xAllTestsPass = pdFALSE;
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222 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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224 xAllTestsPass = pdFALSE;
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227 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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229 xAllTestsPass = pdFAIL;
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232 if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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234 xAllTestsPass = ( portLONG ) pdFAIL;
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237 if( xArePollingQueuesStillRunning() != pdTRUE )
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239 xAllTestsPass = ( portLONG ) pdFAIL;
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242 /* Mutual exclusion on this variable is not necessary as we only read it. */
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243 if( ulRegisterTestStatus != pdPASS )
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245 xAllTestsPass = pdFALSE;
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248 return xAllTestsPass;
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250 /*-----------------------------------------------------------*/
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252 static void prvSetupHardware( void )
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254 /* Ensure the interrupt controller is enabled in order that subsequent
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255 code can successfully configure the peripherals. */
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256 XIntc_mMasterEnable( XPAR_OPB_INTC_0_BASEADDR );
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258 /* Initialise the GPIO used for the LED's. */
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259 vParTestInitialise();
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261 /*-----------------------------------------------------------*/
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263 static void vRegisterTest( void *pvParameters )
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267 /* Fill the registers with their register number plus the offset
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268 (added) value. The added value is passed in as a parameter so
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269 is contained in r5. */
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270 asm volatile ( "addi r3, r5, 3 \n\t" \
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271 "addi r4, r5, 4 \n\t" \
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272 "addi r6, r5, 6 \n\t" \
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273 "addi r7, r5, 7 \n\t" \
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274 "addi r8, r5, 8 \n\t" \
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275 "addi r9, r5, 9 \n\t" \
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276 "addi r10, r5, 10 \n\t" \
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277 "addi r11, r5, 11 \n\t" \
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278 "addi r12, r5, 12 \n\t" \
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279 "addi r16, r5, 16 \n\t" \
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280 "addi r17, r5, 17 \n\t" \
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281 "addi r18, r5, 18 \n\t" \
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282 "addi r19, r5, 19 \n\t" \
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283 "addi r20, r5, 20 \n\t" \
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284 "addi r21, r5, 21 \n\t" \
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285 "addi r22, r5, 22 \n\t" \
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286 "addi r23, r5, 23 \n\t" \
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287 "addi r24, r5, 24 \n\t" \
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288 "addi r25, r5, 25 \n\t" \
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289 "addi r26, r5, 26 \n\t" \
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290 "addi r27, r5, 27 \n\t" \
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291 "addi r28, r5, 28 \n\t" \
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292 "addi r29, r5, 29 \n\t" \
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293 "addi r30, r5, 30 \n\t" \
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294 "addi r31, r5, 31 \n\t"
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297 /* Now read back the register values to ensure they are as we expect.
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298 This task will get preempted frequently so other tasks are likely to
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299 have executed since the register values were written. */
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301 /* r3 should contain r5 + 3. Subtract 3 to leave r3 equal to r5. */
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302 asm volatile ( "addi r3, r3, -3 " );
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304 /* Compare r3 and r5. If they are not equal then either r3 or r5
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305 contains the wrong value and *pulStatusAddr is to pdFAIL. */
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306 asm volatile ( "cmp r3, r3, r5 \n\t" \
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307 "beqi r3, 12 \n\t" \
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308 "lwi r3, r0, pulStatusAddr \n\t" \
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309 "sw r0, r0, r3 \n\t"
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312 /* Repeat for all the other registers. */
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313 asm volatile ( "addi r4, r4, -4 \n\t" \
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314 "cmp r4, r4, r5 \n\t" \
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315 "beqi r4, 12 \n\t" \
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316 "lwi r3, r0, pulStatusAddr \n\t" \
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317 "sw r0, r0, r3 \n\t" \
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318 "addi r6, r6, -6 \n\t" \
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319 "cmp r6, r6, r5 \n\t" \
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320 "beqi r6, 12 \n\t" \
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321 "lwi r3, r0, pulStatusAddr \n\t" \
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322 "sw r0, r0, r3 \n\t" \
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323 "addi r7, r7, -7 \n\t" \
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324 "cmp r7, r7, r5 \n\t" \
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325 "beqi r7, 12 \n\t" \
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326 "lwi r3, r0, pulStatusAddr \n\t" \
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327 "sw r0, r0, r3 \n\t" \
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328 "addi r8, r8, -8 \n\t" \
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329 "cmp r8, r8, r5 \n\t" \
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330 "beqi r8, 12 \n\t" \
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331 "lwi r3, r0, pulStatusAddr \n\t" \
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332 "sw r0, r0, r3 \n\t" \
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333 "addi r9, r9, -9 \n\t" \
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334 "cmp r9, r9, r5 \n\t" \
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335 "beqi r9, 12 \n\t" \
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336 "lwi r3, r0, pulStatusAddr \n\t" \
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337 "sw r0, r0, r3 \n\t" \
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338 "addi r10, r10, -10 \n\t" \
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339 "cmp r10, r10, r5 \n\t" \
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340 "beqi r10, 12 \n\t" \
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341 "lwi r3, r0, pulStatusAddr \n\t" \
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342 "sw r0, r0, r3 \n\t" \
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343 "addi r11, r11, -11 \n\t" \
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344 "cmp r11, r11, r5 \n\t" \
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345 "beqi r11, 12 \n\t" \
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346 "lwi r3, r0, pulStatusAddr \n\t" \
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347 "sw r0, r0, r3 \n\t" \
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348 "addi r12, r12, -12 \n\t" \
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349 "cmp r12, r12, r5 \n\t" \
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350 "beqi r12, 12 \n\t" \
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351 "lwi r3, r0, pulStatusAddr \n\t" \
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352 "sw r0, r0, r3 \n\t" \
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353 "sw r0, r0, r3 \n\t" \
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354 "addi r16, r16, -16 \n\t" \
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355 "cmp r16, r16, r5 \n\t" \
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356 "beqi r16, 12 \n\t" \
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357 "lwi r3, r0, pulStatusAddr \n\t" \
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358 "sw r0, r0, r3 \n\t" \
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359 "addi r17, r17, -17 \n\t" \
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360 "cmp r17, r17, r5 \n\t" \
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361 "beqi r17, 12 \n\t" \
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362 "lwi r3, r0, pulStatusAddr \n\t" \
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363 "sw r0, r0, r3 \n\t" \
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364 "addi r18, r18, -18 \n\t" \
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365 "cmp r18, r18, r5 \n\t" \
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366 "beqi r18, 12 \n\t" \
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367 "lwi r3, r0, pulStatusAddr \n\t" \
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368 "sw r0, r0, r3 \n\t" \
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369 "addi r19, r19, -19 \n\t" \
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370 "cmp r19, r19, r5 \n\t" \
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371 "beqi r19, 12 \n\t" \
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372 "lwi r3, r0, pulStatusAddr \n\t" \
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373 "sw r0, r0, r3 \n\t" \
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374 "addi r20, r20, -20 \n\t" \
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375 "cmp r20, r20, r5 \n\t" \
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376 "beqi r20, 12 \n\t" \
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377 "lwi r3, r0, pulStatusAddr \n\t" \
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378 "sw r0, r0, r3 \n\t" \
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379 "addi r21, r21, -21 \n\t" \
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380 "cmp r21, r21, r5 \n\t" \
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381 "beqi r21, 12 \n\t" \
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382 "lwi r3, r0, pulStatusAddr \n\t" \
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383 "sw r0, r0, r3 \n\t" \
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384 "addi r22, r22, -22 \n\t" \
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385 "cmp r22, r22, r5 \n\t" \
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386 "beqi r22, 12 \n\t" \
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387 "lwi r3, r0, pulStatusAddr \n\t" \
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388 "sw r0, r0, r3 \n\t" \
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389 "addi r23, r23, -23 \n\t" \
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390 "cmp r23, r23, r5 \n\t" \
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391 "beqi r23, 12 \n\t" \
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392 "lwi r3, r0, pulStatusAddr \n\t" \
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393 "sw r0, r0, r3 \n\t" \
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394 "addi r24, r24, -24 \n\t" \
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395 "cmp r24, r24, r5 \n\t" \
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396 "beqi r24, 12 \n\t" \
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397 "lwi r3, r0, pulStatusAddr \n\t" \
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398 "sw r0, r0, r3 \n\t" \
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399 "addi r25, r25, -25 \n\t" \
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400 "cmp r25, r25, r5 \n\t" \
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401 "beqi r25, 12 \n\t" \
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402 "lwi r3, r0, pulStatusAddr \n\t" \
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403 "sw r0, r0, r3 \n\t" \
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404 "addi r26, r26, -26 \n\t" \
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405 "cmp r26, r26, r5 \n\t" \
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406 "beqi r26, 12 \n\t" \
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407 "lwi r3, r0, pulStatusAddr \n\t" \
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408 "sw r0, r0, r3 \n\t" \
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409 "addi r27, r27, -27 \n\t" \
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410 "cmp r27, r27, r5 \n\t" \
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411 "beqi r27, 12 \n\t" \
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412 "lwi r3, r0, pulStatusAddr \n\t" \
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413 "sw r0, r0, r3 \n\t" \
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414 "addi r28, r28, -28 \n\t" \
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415 "cmp r28, r28, r5 \n\t" \
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416 "beqi r28, 12 \n\t" \
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417 "lwi r3, r0, pulStatusAddr \n\t" \
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418 "sw r0, r0, r3 \n\t" \
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419 "addi r29, r29, -29 \n\t" \
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420 "cmp r29, r29, r5 \n\t" \
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421 "beqi r29, 12 \n\t" \
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422 "lwi r3, r0, pulStatusAddr \n\t" \
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423 "sw r0, r0, r3 \n\t" \
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424 "addi r30, r30, -30 \n\t" \
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425 "cmp r30, r30, r5 \n\t" \
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426 "beqi r30, 12 \n\t" \
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427 "lwi r3, r0, pulStatusAddr \n\t" \
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428 "sw r0, r0, r3 \n\t" \
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429 "addi r31, r31, -31 \n\t" \
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430 "cmp r31, r31, r5 \n\t" \
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431 "beqi r31, 12 \n\t" \
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432 "lwi r3, r0, pulStatusAddr \n\t" \
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433 "sw r0, r0, r3 \n\t"
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projects / freertos / blob