2 FreeRTOS V6.1.1 - Copyright (C) 2011 Real Time Engineers Ltd.
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4 ***************************************************************************
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8 * + New to FreeRTOS, *
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9 * + Wanting to learn FreeRTOS or multitasking in general quickly *
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10 * + Looking for basic training, *
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11 * + Wanting to improve your FreeRTOS skills and productivity *
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13 * then take a look at the FreeRTOS books - available as PDF or paperback *
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15 * "Using the FreeRTOS Real Time Kernel - a Practical Guide" *
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16 * http://www.FreeRTOS.org/Documentation *
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18 * A pdf reference manual is also available. Both are usually delivered *
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19 * to your inbox within 20 minutes to two hours when purchased between 8am *
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20 * and 8pm GMT (although please allow up to 24 hours in case of *
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21 * exceptional circumstances). Thank you for your support! *
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23 ***************************************************************************
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25 This file is part of the FreeRTOS distribution.
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27 FreeRTOS is free software; you can redistribute it and/or modify it under
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28 the terms of the GNU General Public License (version 2) as published by the
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29 Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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30 ***NOTE*** The exception to the GPL is included to allow you to distribute
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31 a combined work that includes FreeRTOS without being obliged to provide the
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32 source code for proprietary components outside of the FreeRTOS kernel.
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33 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT
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34 ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
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35 FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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36 more details. You should have received a copy of the GNU General Public
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37 License and the FreeRTOS license exception along with FreeRTOS; if not it
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38 can be viewed here: http://www.freertos.org/a00114.html and also obtained
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39 by writing to Richard Barry, contact details for whom are available on the
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44 http://www.FreeRTOS.org - Documentation, latest information, license and
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47 http://www.SafeRTOS.com - A version that is certified for use in safety
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50 http://www.OpenRTOS.com - Commercial support, development, porting,
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51 licensing and training services.
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55 * Creates all the demo application tasks, then starts the scheduler.
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56 * In addition to the standard demo tasks, the following tasks and tests are
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57 * defined and/or created within this file:
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59 * "Check" task - This only executes every five seconds but has the highest
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60 * priority so is guaranteed to get processor time. Its main function is to
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61 * check that all the standard demo tasks are still operational. The check
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62 * task will write an error message to the console should an error be detected
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63 * within any of the demo tasks. The check task also toggles the LED defined
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64 * by mainCHECK_LED every 5 seconds while the system is error free, with the
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65 * toggle rate increasing to every 500ms should an error occur.
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67 * "Reg test" tasks - These fill the registers with known values, then check
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68 * that each register still contains its expected value. Each task uses
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69 * different values. The tasks run with very low priority so get preempted very
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70 * frequently. A register containing an unexpected value is indicative of an
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71 * error in the context switching mechanism.
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73 * See the online documentation for this demo for more information on interrupt
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77 /* Standard includes. */
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82 /* Scheduler includes. */
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83 #include "FreeRTOS.h"
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87 /* Demo application includes. */
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88 #include "partest.h"
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90 #include "blocktim.h"
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91 #include "semtest.h"
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93 #include "comtest.h"
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94 #include "GenQTest.h"
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96 #include "integer.h"
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99 #include "dynamic.h"
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100 #include "countsem.h"
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101 #include "recmutex.h"
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104 /*-----------------------------------------------------------*/
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106 #error The batch file Demo\NiosII_CycloneIII_DBC3C40_GCC\CreateProjectDirectoryStructure.bat must be executed before the project is imported into the workspace. Failure to do this will result in the include paths stored in the project being deleted. Remove this line after CreateProjectDirectoryStructure.bat has been executed.
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108 /*-----------------------------------------------------------*/
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110 /* The rate at which the LED controlled by the 'check' task will toggle when no
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111 errors have been detected. */
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112 #define mainNO_ERROR_PERIOD ( 5000 )
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114 /* The rate at which the LED controlled by the 'check' task will toggle when an
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115 error has been detected. */
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116 #define mainERROR_PERIOD ( 500 )
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118 /* The LED toggled by the Check task. */
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119 #define mainCHECK_LED ( 7 )
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121 /* The first LED used by the ComTest tasks. One LED toggles each time a
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122 character is transmitted, and one each time a character is received and
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123 verified as being the expected character. */
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124 #define mainCOMTEST_LED ( 4 )
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126 /* Priority definitions for the tasks in the demo application. */
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127 #define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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128 #define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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129 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 4 )
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130 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
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131 #define mainQUEUE_BLOCK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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132 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
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133 #define mainSEMAPHORE_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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134 #define mainGENERIC_QUEUE_PRIORITY ( tskIDLE_PRIORITY )
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135 #define mainREG_TEST_PRIORITY ( tskIDLE_PRIORITY )
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138 #define mainDONT_WAIT ( 0 )
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140 /* The parameters passed to the reg test tasks. This is just done to check
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141 the parameter passing mechanism is working correctly. */
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142 #define mainREG_TEST_1_PARAMETER ( ( void * ) 0x12345678 )
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143 #define mainREG_TEST_2_PARAMETER ( ( void * ) 0x87654321 )
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145 /*-----------------------------------------------------------*/
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148 * Setup the processor ready for the demo.
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150 static void prvSetupHardware( void );
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153 * Execute all of the check functions to ensure the tests haven't failed.
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155 static void prvCheckTask( void *pvParameters );
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158 * The register test (or RegTest) tasks as described at the top of this file.
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160 static void prvFirstRegTestTask( void *pvParameters );
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161 static void prvSecondRegTestTask( void *pvParameters );
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163 /*-----------------------------------------------------------*/
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165 /* Counters that are incremented on each iteration of the RegTest tasks
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166 so long as no errors have been detected. */
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167 volatile unsigned long ulRegTest1Counter = 0UL, ulRegTest2Counter = 0UL;
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169 /*-----------------------------------------------------------*/
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172 * Create the demo tasks then start the scheduler.
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176 /* Configure any hardware required for this demo. */
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177 prvSetupHardware();
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179 /* Create all the other standard demo tasks. These serve no purpose other
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180 than to test the port and demonstrate the use of the FreeRTOS API. */
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181 vStartLEDFlashTasks( tskIDLE_PRIORITY );
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182 vStartIntegerMathTasks( mainGENERIC_QUEUE_PRIORITY );
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183 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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184 vStartBlockingQueueTasks( mainQUEUE_BLOCK_PRIORITY );
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185 vCreateBlockTimeTasks();
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186 vStartSemaphoreTasks( mainSEMAPHORE_TASK_PRIORITY );
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187 vStartDynamicPriorityTasks();
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188 vStartQueuePeekTasks();
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189 vStartGenericQueueTasks( mainGENERIC_QUEUE_PRIORITY );
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190 vStartCountingSemaphoreTasks();
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191 vStartRecursiveMutexTasks();
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192 vAltStartComTestTasks( mainCOM_TEST_PRIORITY, 0, mainCOMTEST_LED );
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194 /* prvCheckTask uses sprintf so requires more stack. */
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195 xTaskCreate( prvCheckTask, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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197 /* The RegTest tasks as described at the top of this file. */
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198 xTaskCreate( prvFirstRegTestTask, "Rreg1", configMINIMAL_STACK_SIZE, mainREG_TEST_1_PARAMETER, mainREG_TEST_PRIORITY, NULL );
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199 xTaskCreate( prvSecondRegTestTask, "Rreg2", configMINIMAL_STACK_SIZE, mainREG_TEST_2_PARAMETER, mainREG_TEST_PRIORITY, NULL );
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201 /* This task has to be created last as it keeps account of the number of tasks
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202 it expects to see running. */
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203 vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
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205 /* Finally start the scheduler. */
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206 vTaskStartScheduler();
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208 /* Will only reach here if there is insufficient heap available to start
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212 /*-----------------------------------------------------------*/
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214 static void prvSetupHardware( void )
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216 /* Setup the digital IO for the LED's. */
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217 vParTestInitialise();
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219 /*-----------------------------------------------------------*/
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221 void vApplicationStackOverflowHook( void )
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223 /* Look at pxCurrentTCB to see which task overflowed its stack. */
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229 /*-----------------------------------------------------------*/
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231 void _general_exception_handler( unsigned long ulCause, unsigned long ulStatus )
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233 /* This overrides the definition provided by the kernel. Other exceptions
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234 should be handled here. */
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240 /*-----------------------------------------------------------*/
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242 static void prvCheckTask( void *pvParameters )
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244 portTickType xLastExecutionTime, ulTicksToWait = mainNO_ERROR_PERIOD;
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245 unsigned long ulLastRegTest1 = 0UL, ulLastRegTest2 = 0UL;
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246 const char * pcMessage;
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248 /* Initialise the variable used to control our iteration rate prior to
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250 xLastExecutionTime = xTaskGetTickCount();
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254 /* Wait until it is time to run the tests again. */
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255 vTaskDelayUntil( &xLastExecutionTime, ulTicksToWait );
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257 /* Have any of the standard demo tasks detected an error in their
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259 if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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261 ulTicksToWait = mainERROR_PERIOD;
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262 pcMessage = "Error: Integer Maths.\n";
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264 else if( xAreGenericQueueTasksStillRunning() != pdTRUE )
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266 ulTicksToWait = mainERROR_PERIOD;
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267 pcMessage = "Error: GenQ.\n";
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269 else if( xAreBlockingQueuesStillRunning() != pdTRUE )
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271 ulTicksToWait = mainERROR_PERIOD;
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272 pcMessage = "Error: BlockQ.\n";
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274 else if( xArePollingQueuesStillRunning() != pdTRUE )
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276 ulTicksToWait = mainERROR_PERIOD;
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277 pcMessage = "Error: PollQ.\n";
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279 else if( xAreQueuePeekTasksStillRunning() != pdTRUE )
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281 ulTicksToWait = mainERROR_PERIOD;
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282 pcMessage = "Error: PeekQ.\n";
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284 else if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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286 ulTicksToWait = mainERROR_PERIOD;
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287 pcMessage = "Error: Block Time.\n";
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289 else if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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291 ulTicksToWait = mainERROR_PERIOD;
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292 pcMessage = "Error: Semaphore Test.\n";
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294 else if( xAreComTestTasksStillRunning() != pdTRUE )
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296 ulTicksToWait = mainERROR_PERIOD;
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297 pcMessage = "Error: Comm Test.\n";
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299 else if( xIsCreateTaskStillRunning() != pdTRUE )
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301 ulTicksToWait = mainERROR_PERIOD;
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302 pcMessage = "Error: Suicidal Tasks.\n";
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304 else if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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306 ulTicksToWait = mainERROR_PERIOD;
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307 pcMessage = "Error: Dynamic Priority.\n";
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309 else if( xAreCountingSemaphoreTasksStillRunning() != pdTRUE )
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311 ulTicksToWait = mainERROR_PERIOD;
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312 pcMessage = "Error: Count Semaphore.\n";
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314 else if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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316 ulTicksToWait = mainERROR_PERIOD;
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317 pcMessage = "Error: Recursive Mutex.\n";
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319 else if( ulLastRegTest1 == ulRegTest1Counter )
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321 /* ulRegTest1Counter is no longer being incremented, indicating
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322 that an error has been discovered in prvFirstRegTestTask(). */
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323 ulTicksToWait = mainERROR_PERIOD;
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324 pcMessage = "Error: Reg Test1.\n";
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326 else if( ulLastRegTest2 == ulRegTest2Counter )
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328 /* ulRegTest2Counter is no longer being incremented, indicating
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329 that an error has been discovered in prvSecondRegTestTask(). */
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330 ulTicksToWait = mainERROR_PERIOD;
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331 pcMessage = "Error: Reg Test2.\n";
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338 /* Remember the counter values this time around so a counter failing
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339 to be incremented correctly can be spotted. */
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340 ulLastRegTest1 = ulRegTest1Counter;
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341 ulLastRegTest2 = ulRegTest2Counter;
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343 /* Print out an error message if there is one. Mutual exclusion is
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344 not used as this is the only task accessing stdout. */
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345 if( pcMessage != NULL )
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347 printf( pcMessage );
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350 /* Provide visual feedback of the system status. If the LED is toggled
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351 every 5 seconds then no errors have been found. If the LED is toggled
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352 every 500ms then at least one error has been found. */
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353 vParTestToggleLED( mainCHECK_LED );
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356 /*-----------------------------------------------------------*/
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358 static void prvFirstRegTestTask( void *pvParameters )
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360 /* Check the parameters are passed in as expected. */
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361 if( pvParameters != mainREG_TEST_1_PARAMETER )
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363 /* Don't execute any further so an error is recognised by the check
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365 vTaskDelete( NULL );
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368 /* Fill registers with known values, then check that each register still
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369 contains its expected value. An incorrect value is indicative of an error
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370 in the context switching process.
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372 If no errors are found ulRegTest1Counter is incremented. The check task
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373 will recognise an error if ulRegTest1Counter stops being incremented.
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374 This task also performs a manual yield in the middle of its execution, just
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375 to increase the test coverage. */
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377 " .extern ulRegTest1Counter \n" \
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379 " addi r3, r0, 3 \n" \
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380 " addi r4, r0, 4 \n" \
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381 " addi r5, r0, 5 \n" \
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382 " addi r6, r0, 6 \n" \
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383 " addi r7, r0, 7 \n" \
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384 " addi r8, r0, 8 \n" \
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385 " addi r9, r0, 9 \n" \
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386 " addi r10, r0, 10 \n" \
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387 " addi r11, r0, 11 \n" \
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388 " addi r12, r0, 12 \n" \
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389 " addi r13, r0, 13 \n" \
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390 " addi r14, r0, 14 \n" \
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391 " addi r15, r0, 15 \n" \
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392 " addi r16, r0, 16 \n" \
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393 " addi r17, r0, 17 \n" \
\r
394 " addi r18, r0, 18 \n" \
\r
395 " addi r19, r0, 19 \n" \
\r
396 " addi r20, r0, 20 \n" \
\r
397 " addi r21, r0, 21 \n" \
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398 " addi r22, r0, 22 \n" \
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399 " addi r23, r0, 23 \n" \
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400 " addi r28, r0, 28 \n" \
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401 " addi r31, r0, 31 \n" \
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403 " addi r2, r0, 0 \n" \
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405 " bne r2, r0, RegTest1Error \n" \
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406 " addi r2, r0, 3 \n" \
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407 " bne r2, r3, RegTest1Error \n" \
\r
408 " addi r2, r0, 4 \n" \
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409 " bne r2, r4, RegTest1Error \n" \
\r
410 " addi r2, r0, 5 \n" \
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411 " bne r2, r5, RegTest1Error \n" \
\r
412 " addi r2, r0, 6 \n" \
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413 " bne r2, r6, RegTest1Error \n" \
\r
414 " addi r2, r0, 7 \n" \
\r
415 " bne r2, r7, RegTest1Error \n" \
\r
416 " addi r2, r0, 8 \n" \
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417 " bne r2, r8, RegTest1Error \n" \
\r
418 " addi r2, r0, 9 \n" \
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419 " bne r2, r9, RegTest1Error \n" \
\r
420 " addi r2, r0, 10 \n" \
\r
421 " bne r2, r10, RegTest1Error \n" \
\r
422 " addi r2, r0, 11 \n" \
\r
423 " bne r2, r11, RegTest1Error \n" \
\r
424 " addi r2, r0, 12 \n" \
\r
425 " bne r2, r12, RegTest1Error \n" \
\r
426 " addi r2, r0, 13 \n" \
\r
427 " bne r2, r13, RegTest1Error \n" \
\r
428 " addi r2, r0, 14 \n" \
\r
429 " bne r2, r14, RegTest1Error \n" \
\r
430 " addi r2, r0, 15 \n" \
\r
431 " bne r2, r15, RegTest1Error \n" \
\r
432 " addi r2, r0, 16 \n" \
\r
433 " bne r2, r16, RegTest1Error \n" \
\r
434 " addi r2, r0, 17 \n" \
\r
435 " bne r2, r17, RegTest1Error \n" \
\r
436 " addi r2, r0, 18 \n" \
\r
437 " bne r2, r18, RegTest1Error \n" \
\r
438 " addi r2, r0, 19 \n" \
\r
439 " bne r2, r19, RegTest1Error \n" \
\r
440 " addi r2, r0, 20 \n" \
\r
441 " bne r2, r20, RegTest1Error \n" \
\r
442 " addi r2, r0, 21 \n" \
\r
443 " bne r2, r21, RegTest1Error \n" \
\r
444 " addi r2, r0, 22 \n" \
\r
445 " bne r2, r22, RegTest1Error \n" \
\r
446 " addi r2, r0, 23 \n" \
\r
447 " bne r2, r23, RegTest1Error \n" \
\r
448 " addi r2, r0, 28 \n" \
\r
449 " bne r2, r28, RegTest1Error \n" \
\r
450 " addi r2, r0, 31 \n" \
\r
451 " bne r2, r31, RegTest1Error \n" \
\r
452 " ldw r2, %gprel(ulRegTest1Counter)(gp) \n" \
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453 " addi r2, r2, 1 \n" \
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454 " stw r2, %gprel(ulRegTest1Counter)(gp) \n" \
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455 " br RegTest1 \n" \
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456 "RegTest1Error: \n" \
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457 " br RegTest1Error \n"
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460 /*-----------------------------------------------------------*/
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462 static void prvSecondRegTestTask( void *pvParameters )
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464 /* Check the parameters are passed in as expected. */
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465 if( pvParameters != mainREG_TEST_2_PARAMETER )
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467 /* Don't execute any further so an error is recognised by the check
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469 vTaskDelete( NULL );
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472 /* Fill registers with known values, then check that each register still
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473 contains its expected value. An incorrect value is indicative of an error
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474 in the context switching process.
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476 If no errors are found ulRegTest2Counter is incremented. The check task
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477 will recognise an error if ulRegTest2Counter stops being incremented. */
\r
479 " .extern ulRegTest2Counter \n" \
\r
481 " addi r3, r0, 3 \n" \
\r
482 " addi r4, r0, 4 \n" \
\r
483 " addi r5, r0, 5 \n" \
\r
484 " addi r6, r0, 6 \n" \
\r
485 " addi r7, r0, 7 \n" \
\r
486 " addi r8, r0, 8 \n" \
\r
487 " addi r9, r0, 9 \n" \
\r
488 " addi r10, r0, 10 \n" \
\r
489 " addi r11, r0, 11 \n" \
\r
490 " addi r12, r0, 12 \n" \
\r
491 " addi r13, r0, 13 \n" \
\r
492 " addi r14, r0, 14 \n" \
\r
493 " addi r15, r0, 15 \n" \
\r
494 " addi r16, r0, 16 \n" \
\r
495 " addi r17, r0, 17 \n" \
\r
496 " addi r18, r0, 18 \n" \
\r
497 " addi r19, r0, 19 \n" \
\r
498 " addi r20, r0, 20 \n" \
\r
499 " addi r21, r0, 21 \n" \
\r
500 " addi r22, r0, 22 \n" \
\r
501 " addi r23, r0, 23 \n" \
\r
502 " addi r28, r0, 28 \n" \
\r
503 " addi r31, r0, 31 \n" \
\r
505 " addi r2, r0, 0 \n" \
\r
506 " bne r2, r0, RegTest2Error \n" \
\r
507 " addi r2, r0, 3 \n" \
\r
508 " bne r2, r3, RegTest2Error \n" \
\r
509 " addi r2, r0, 4 \n" \
\r
510 " bne r2, r4, RegTest2Error \n" \
\r
511 " addi r2, r0, 5 \n" \
\r
512 " bne r2, r5, RegTest2Error \n" \
\r
513 " addi r2, r0, 6 \n" \
\r
514 " bne r2, r6, RegTest2Error \n" \
\r
515 " addi r2, r0, 7 \n" \
\r
516 " bne r2, r7, RegTest2Error \n" \
\r
517 " addi r2, r0, 8 \n" \
\r
518 " bne r2, r8, RegTest2Error \n" \
\r
519 " addi r2, r0, 9 \n" \
\r
520 " bne r2, r9, RegTest2Error \n" \
\r
521 " addi r2, r0, 10 \n" \
\r
522 " bne r2, r10, RegTest2Error \n" \
\r
523 " addi r2, r0, 11 \n" \
\r
524 " bne r2, r11, RegTest2Error \n" \
\r
525 " addi r2, r0, 12 \n" \
\r
526 " bne r2, r12, RegTest2Error \n" \
\r
527 " addi r2, r0, 13 \n" \
\r
528 " bne r2, r13, RegTest2Error \n" \
\r
529 " addi r2, r0, 14 \n" \
\r
530 " bne r2, r14, RegTest2Error \n" \
\r
531 " addi r2, r0, 15 \n" \
\r
532 " bne r2, r15, RegTest2Error \n" \
\r
533 " addi r2, r0, 16 \n" \
\r
534 " bne r2, r16, RegTest2Error \n" \
\r
535 " addi r2, r0, 17 \n" \
\r
536 " bne r2, r17, RegTest2Error \n" \
\r
537 " addi r2, r0, 18 \n" \
\r
538 " bne r2, r18, RegTest2Error \n" \
\r
539 " addi r2, r0, 19 \n" \
\r
540 " bne r2, r19, RegTest2Error \n" \
\r
541 " addi r2, r0, 20 \n" \
\r
542 " bne r2, r20, RegTest2Error \n" \
\r
543 " addi r2, r0, 21 \n" \
\r
544 " bne r2, r21, RegTest2Error \n" \
\r
545 " addi r2, r0, 22 \n" \
\r
546 " bne r2, r22, RegTest2Error \n" \
\r
547 " addi r2, r0, 23 \n" \
\r
548 " bne r2, r23, RegTest2Error \n" \
\r
549 " addi r2, r0, 28 \n" \
\r
550 " bne r2, r28, RegTest2Error \n" \
\r
551 " addi r2, r0, 31 \n" \
\r
552 " bne r2, r31, RegTest2Error \n" \
\r
553 " ldw r2, %gprel(ulRegTest2Counter)(gp) \n" \
\r
554 " addi r2, r2, 1 \n" \
\r
555 " stw r2, %gprel(ulRegTest2Counter)(gp) \n" \
\r
556 " br RegTest2 \n" \
\r
557 "RegTest2Error: \n" \
\r
558 " br RegTest2Error \n"
\r
561 /*-----------------------------------------------------------*/
\r