2 FreeRTOS V6.0.5 - Copyright (C) 2010 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 eBook *
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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 * This project includes a lot of tasks and tests and is therefore complex.
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56 * If you would prefer a much simpler project to get started with then select
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57 * the 'Blinky' build configuration within the HEW IDE.
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59 * Creates all the demo application tasks, then starts the scheduler. The web
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60 * documentation provides more details of the standard demo application tasks,
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61 * which provide no particular functionality but do provide a good example of
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62 * how to use the FreeRTOS API. The tasks defined in flop.c are included in the
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63 * set of standard demo tasks to ensure the floating point unit gets some
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66 * In addition to the standard demo tasks, the following tasks and tests are
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67 * defined and/or created within this file:
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69 * "Reg test" tasks - These fill the registers with known values, then check
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70 * that each register still contains its expected value. Each task uses
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71 * different values. The tasks run with very low priority so get preempted
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72 * very frequently. A check variable is incremented on each iteration of the
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73 * test loop. A register containing an unexpected value is indicative of an
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74 * error in the context switching mechanism and will result in a branch to a
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75 * null loop - which in turn will prevent the check variable from incrementing
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76 * any further and allow the check task (described below) to determine that an
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77 * error has occurred. The nature of the reg test tasks necessitates that they
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78 * are written in assembly code.
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80 * "Check" task - This only executes every five seconds but has a high priority
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81 * to ensure it gets processor time. Its main function is to check that all the
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82 * standard demo tasks are still operational. While no errors have been
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83 * discovered the check task will toggle LED 5 every 5 seconds - the toggle
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84 * rate increasing to 200ms being a visual indication that at least one task has
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85 * reported unexpected behaviour.
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87 * "High frequency timer test" - A high frequency periodic interrupt is
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88 * generated using a timer - the interrupt is assigned a priority above
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89 * configMAX_SYSCALL_INTERRUPT_PRIORITY so should not be effected by anything
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90 * the kernel is doing. The interrupt service routine measures the number of
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91 * counts a separate timer performs between each interrupt to determine the
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92 * jitter in the interrupt timing.
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94 * *NOTE 1* If LED5 is toggling every 5 seconds then all the demo application
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95 * tasks are executing as expected and no errors have been reported in any
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96 * tasks. The toggle rate increasing to 200ms indicates that at least one task
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97 * has reported unexpected behaviour.
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99 * *NOTE 2* vApplicationSetupTimerInterrupt() is called by the kernel to let
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100 * the application set up a timer to generate the tick interrupt. In this
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101 * example a compare match timer is used for this purpose.
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103 * *NOTE 3* The CPU must be in Supervisor mode when the scheduler is started.
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104 * The PowerON_Reset_PC() supplied in resetprg.c with this demo has
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105 * Change_PSW_PM_to_UserMode() commented out to ensure this is the case.
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107 * *NOTE 4* The IntQueue common demo tasks test interrupt nesting and make use
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108 * of all the 8bit timers (as two cascaded 16bit units).
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111 /* Hardware specific includes. */
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112 #include "iodefine.h"
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114 /* Kernel includes. */
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115 #include "FreeRTOS.h"
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118 /* Standard demo includes. */
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119 #include "partest.h"
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121 #include "IntQueue.h"
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122 #include "BlockQ.h"
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124 #include "integer.h"
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125 #include "blocktim.h"
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126 #include "semtest.h"
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128 #include "GenQTest.h"
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130 #include "recmutex.h"
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133 /* Values that are passed into the reg test tasks using the task parameter. The
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134 tasks check that the values are passed in correctly. */
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135 #define mainREG_TEST_1_PARAMETER ( 0x12121212UL )
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136 #define mainREG_TEST_2_PARAMETER ( 0x12345678UL )
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138 /* Priorities at which the tasks are created. */
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139 #define mainCHECK_TASK_PRIORITY ( configMAX_PRIORITIES - 1 )
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140 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 1 )
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141 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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142 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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143 #define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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144 #define mainFLASH_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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145 #define mainuIP_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
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146 #define mainINTEGER_TASK_PRIORITY ( tskIDLE_PRIORITY )
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147 #define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )
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148 #define mainFLOP_TASK_PRIORITY ( tskIDLE_PRIORITY )
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150 /* The WEB server uses string handling functions, which in turn use a bit more
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151 stack than most of the other tasks. */
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152 #define mainuIP_STACK_SIZE ( configMINIMAL_STACK_SIZE * 3 )
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154 /* The LED toggled by the check task. */
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155 #define mainCHECK_LED ( 5 )
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157 /* The rate at which mainCHECK_LED will toggle when all the tasks are running
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158 without error. Controlled by the check task as described at the top of this
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160 #define mainNO_ERROR_CYCLE_TIME ( 5000 / portTICK_RATE_MS )
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162 /* The rate at which mainCHECK_LED will toggle when an error has been reported
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163 by at least one task. Controlled by the check task as described at the top of
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165 #define mainERROR_CYCLE_TIME ( 200 / portTICK_RATE_MS )
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167 /* The period of the peripheral clock in nano seconds. This is used to calculate
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168 the jitter time in nano seconds as part of the high frequency timer test. The
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169 clock driving the timer is divided by 8. */
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170 #define mainNS_PER_CLOCK ( ( unsigned long ) ( ( 1.0 / ( ( double ) configPERIPHERAL_CLOCK_HZ ) / 8.0 ) * 1000000000.0 ) )
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173 * vApplicationMallocFailedHook() will only be called if
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174 * configUSE_MALLOC_FAILED_HOOK is set to 1 in FreeRTOSConfig.h. It is a hook
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175 * function that will execute if a call to pvPortMalloc() fails.
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176 * pvPortMalloc() is called internally by the kernel whenever a task, queue or
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177 * semaphore is created. It is also called by various parts of the demo
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180 void vApplicationMallocFailedHook( void );
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183 * vApplicationIdleHook() will only be called if configUSE_IDLE_HOOK is set to 1
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184 * in FreeRTOSConfig.h. It is a hook function that is called on each iteration
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185 * of the idle task. It is essential that code added to this hook function
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186 * never attempts to block in any way (for example, call xQueueReceive() with
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187 * a block time specified). If the application makes use of the vTaskDelete()
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188 * API function (as this demo application does) then it is also important that
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189 * vApplicationIdleHook() is permitted to return to its calling function because
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190 * it is the responsibility of the idle task to clean up memory allocated by the
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191 * kernel to any task that has since been deleted.
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193 void vApplicationIdleHook( void );
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196 * vApplicationStackOverflowHook() will only be called if
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197 * configCHECK_FOR_STACK_OVERFLOW is set to a non-zero value. The handle and
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198 * name of the offending task should be passed in the function parameters, but
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199 * it is possible that the stack overflow will have corrupted these - in which
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200 * case pxCurrentTCB can be inspected to find the same information.
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202 void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed char *pcTaskName );
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205 * The reg test tasks as described at the top of this file.
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207 static void prvRegTest1Task( void *pvParameters );
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208 static void prvRegTest2Task( void *pvParameters );
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211 * The actual implementation of the reg test functionality, which, because of
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212 * the direct register access, have to be in assembly.
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214 static void prvRegTest1Implementation( void );
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215 static void prvRegTest2Implementation( void );
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218 * The check task as described at the top of this file.
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220 static void prvCheckTask( void *pvParameters );
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223 * Contains the implementation of the WEB server.
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225 extern void vuIP_Task( void *pvParameters );
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227 /*-----------------------------------------------------------*/
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229 /* Variables that are incremented on each iteration of the reg test tasks -
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230 provided the tasks have not reported any errors. The check task inspects these
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231 variables to ensure they are still incrementing as expected. If a variable
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232 stops incrementing then it is likely that its associate task has stalled. */
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233 unsigned long ulRegTest1CycleCount = 0UL, ulRegTest2CycleCount = 0UL;
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235 /* The status message that is displayed at the bottom of the "task stats" web
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236 page, which is served by the uIP task. */
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237 const char *pcStatusMessage = "All tasks executing without error.";
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239 /*-----------------------------------------------------------*/
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243 extern void HardwareSetup( void );
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245 /* Renesas provided CPU configuration routine. The clocks are configured in
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249 /* Turn all LEDs off. */
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250 vParTestInitialise();
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252 /* Start the reg test tasks which test the context switching mechanism. */
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253 xTaskCreate( prvRegTest1Task, "RegTst1", configMINIMAL_STACK_SIZE, ( void * ) mainREG_TEST_1_PARAMETER, tskIDLE_PRIORITY, NULL );
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254 xTaskCreate( prvRegTest2Task, "RegTst2", configMINIMAL_STACK_SIZE, ( void * ) mainREG_TEST_2_PARAMETER, tskIDLE_PRIORITY, NULL );
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256 /* The web server task. */
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257 xTaskCreate( vuIP_Task, "uIP", mainuIP_STACK_SIZE, NULL, mainuIP_TASK_PRIORITY, NULL );
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259 /* Start the check task as described at the top of this file. */
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260 xTaskCreate( prvCheckTask, "Check", configMINIMAL_STACK_SIZE * 3, NULL, mainCHECK_TASK_PRIORITY, NULL );
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262 /* Create the standard demo tasks. */
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263 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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264 vCreateBlockTimeTasks();
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265 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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266 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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267 vStartIntegerMathTasks( mainINTEGER_TASK_PRIORITY );
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268 vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
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269 vStartLEDFlashTasks( mainFLASH_TASK_PRIORITY );
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270 vStartQueuePeekTasks();
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271 vStartRecursiveMutexTasks();
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272 vStartInterruptQueueTasks();
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273 vStartMathTasks( mainFLOP_TASK_PRIORITY );
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275 /* The suicide tasks must be created last as they need to know how many
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276 tasks were running prior to their creation in order to ascertain whether
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277 or not the correct/expected number of tasks are running at any given time. */
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278 vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
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280 /* Start the tasks running. */
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281 vTaskStartScheduler();
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283 /* If all is well we will never reach here as the scheduler will now be
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284 running. If we do reach here then it is likely that there was insufficient
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285 heap available for the idle task to be created. */
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288 /*-----------------------------------------------------------*/
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290 static void prvCheckTask( void *pvParameters )
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292 static volatile unsigned long ulLastRegTest1CycleCount = 0UL, ulLastRegTest2CycleCount = 0UL;
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293 portTickType xNextWakeTime, xCycleFrequency = mainNO_ERROR_CYCLE_TIME;
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294 extern void vSetupHighFrequencyTimer( void );
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295 extern volatile unsigned short usMaxJitter;
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296 volatile unsigned long ulActualJitter = 0;
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298 /* If this is being executed then the kernel has been started. Start the high
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299 frequency timer test as described at the top of this file. This is only
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300 included in the optimised build configuration - otherwise it takes up too much
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302 #ifdef INCLUDE_HIGH_FREQUENCY_TIMER_TEST
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303 vSetupHighFrequencyTimer();
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306 /* Initialise xNextWakeTime - this only needs to be done once. */
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307 xNextWakeTime = xTaskGetTickCount();
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311 /* Place this task in the blocked state until it is time to run again. */
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312 vTaskDelayUntil( &xNextWakeTime, xCycleFrequency );
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314 /* Check the standard demo tasks are running without error. */
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315 if( xAreGenericQueueTasksStillRunning() != pdTRUE )
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317 /* Increase the rate at which this task cycles, which will increase the
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318 rate at which mainCHECK_LED flashes to give visual feedback that an error
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320 xCycleFrequency = mainERROR_CYCLE_TIME;
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321 pcStatusMessage = "Error: GenQueue";
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323 else if( xAreQueuePeekTasksStillRunning() != pdTRUE )
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325 xCycleFrequency = mainERROR_CYCLE_TIME;
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326 pcStatusMessage = "Error: QueuePeek";
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328 else if( xAreBlockingQueuesStillRunning() != pdTRUE )
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330 xCycleFrequency = mainERROR_CYCLE_TIME;
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331 pcStatusMessage = "Error: BlockQueue";
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333 else if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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335 xCycleFrequency = mainERROR_CYCLE_TIME;
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336 pcStatusMessage = "Error: BlockTime";
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338 else if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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340 xCycleFrequency = mainERROR_CYCLE_TIME;
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341 pcStatusMessage = "Error: SemTest";
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343 else if( xArePollingQueuesStillRunning() != pdTRUE )
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345 xCycleFrequency = mainERROR_CYCLE_TIME;
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346 pcStatusMessage = "Error: PollQueue";
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348 else if( xIsCreateTaskStillRunning() != pdTRUE )
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350 xCycleFrequency = mainERROR_CYCLE_TIME;
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351 pcStatusMessage = "Error: Death";
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353 else if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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355 xCycleFrequency = mainERROR_CYCLE_TIME;
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356 pcStatusMessage = "Error: IntMath";
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358 else if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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360 xCycleFrequency = mainERROR_CYCLE_TIME;
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361 pcStatusMessage = "Error: RecMutex";
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363 else if( xAreIntQueueTasksStillRunning() != pdPASS )
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365 xCycleFrequency = mainERROR_CYCLE_TIME;
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366 pcStatusMessage = "Error: IntQueue";
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368 else if( xAreMathsTaskStillRunning() != pdPASS )
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370 xCycleFrequency = mainERROR_CYCLE_TIME;
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371 pcStatusMessage = "Error: Flop";
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374 /* Check the reg test tasks are still cycling. They will stop incrementing
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375 their loop counters if they encounter an error. */
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376 if( ulRegTest1CycleCount == ulLastRegTest1CycleCount )
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378 xCycleFrequency = mainERROR_CYCLE_TIME;
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379 pcStatusMessage = "Error: RegTest1";
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382 if( ulRegTest2CycleCount == ulLastRegTest2CycleCount )
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384 xCycleFrequency = mainERROR_CYCLE_TIME;
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385 pcStatusMessage = "Error: RegTest2";
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388 ulLastRegTest1CycleCount = ulRegTest1CycleCount;
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389 ulLastRegTest2CycleCount = ulRegTest2CycleCount;
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391 /* Toggle the check LED to give an indication of the system status. If
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392 the LED toggles every 5 seconds then everything is ok. A faster toggle
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393 indicates an error. */
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394 vParTestToggleLED( mainCHECK_LED );
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396 /* Calculate the maximum jitter experienced by the high frequency timer
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397 test and print it out. It is ok to use printf without worrying about
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398 mutual exclusion as it is not used anywhere else in this demo. */
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399 //sprintf( cTempBuf, "%s [%fns]\n", "Max Jitter = ", ( ( float ) usMaxJitter ) * mainNS_PER_CLOCK );
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400 ulActualJitter = ( ( unsigned long ) usMaxJitter ) * mainNS_PER_CLOCK;
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403 /*-----------------------------------------------------------*/
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405 /* The RX port uses this callback function to configure its tick interrupt.
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406 This allows the application to choose the tick interrupt source. */
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407 void vApplicationSetupTimerInterrupt( void )
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409 /* Enable compare match timer 0. */
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412 /* Interrupt on compare match. */
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413 CMT0.CMCR.BIT.CMIE = 1;
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415 /* Set the compare match value. */
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416 CMT0.CMCOR = ( unsigned short ) ( ( ( configPERIPHERAL_CLOCK_HZ / configTICK_RATE_HZ ) -1 ) / 8 );
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418 /* Divide the PCLK by 8. */
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419 CMT0.CMCR.BIT.CKS = 0;
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421 /* Enable the interrupt... */
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422 _IEN( _CMT0_CMI0 ) = 1;
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424 /* ...and set its priority to the application defined kernel priority. */
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425 _IPR( _CMT0_CMI0 ) = configKERNEL_INTERRUPT_PRIORITY;
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427 /* Start the timer. */
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428 CMT.CMSTR0.BIT.STR0 = 1;
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430 /*-----------------------------------------------------------*/
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432 /* This function is explained by the comments above its prototype at the top
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434 void vApplicationMallocFailedHook( void )
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438 /*-----------------------------------------------------------*/
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440 /* This function is explained by the comments above its prototype at the top
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442 void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed char *pcTaskName )
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446 /*-----------------------------------------------------------*/
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448 /* This function is explained by the comments above its prototype at the top
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450 void vApplicationIdleHook( void )
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453 /*-----------------------------------------------------------*/
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455 /* This function is explained in the comments at the top of this file. */
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456 static void prvRegTest1Task( void *pvParameters )
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458 if( ( ( unsigned long ) pvParameters ) != mainREG_TEST_1_PARAMETER )
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460 /* The parameter did not contain the expected value. */
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463 /* Stop the tick interrupt so its obvious something has gone wrong. */
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464 taskDISABLE_INTERRUPTS();
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468 /* This is an inline asm function that never returns. */
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469 prvRegTest1Implementation();
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471 /*-----------------------------------------------------------*/
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473 /* This function is explained in the comments at the top of this file. */
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474 static void prvRegTest2Task( void *pvParameters )
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476 if( ( ( unsigned long ) pvParameters ) != mainREG_TEST_2_PARAMETER )
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478 /* The parameter did not contain the expected value. */
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481 /* Stop the tick interrupt so its obvious something has gone wrong. */
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482 taskDISABLE_INTERRUPTS();
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486 /* This is an inline asm function that never returns. */
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487 prvRegTest2Implementation();
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489 /*-----------------------------------------------------------*/
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491 /* This function is explained in the comments at the top of this file. */
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492 #pragma inline_asm prvRegTest1Implementation
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493 static void prvRegTest1Implementation( void )
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495 ; Put a known value in each register.
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512 ; Loop, checking each itteration that each register still contains the
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516 ; Push the registers that are going to get clobbered.
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519 ; Increment the loop counter to show this task is still getting CPU time.
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520 MOV.L #_ulRegTest1CycleCount, R14
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525 ; Yield to extend the text coverage. Set the bit in the ITU SWINTR register.
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527 MOV.L #0872E0H, R15
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532 ; Restore the clobbered registers.
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535 ; Now compare each register to ensure it still contains the value that was
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536 ; set before this loop was entered.
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568 ; All comparisons passed, start a new itteratio of this loop.
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572 ; A compare failed, just loop here so the loop counter stops incrementing
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573 ; causing the check task to indicate the error.
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576 /*-----------------------------------------------------------*/
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578 /* This function is explained in the comments at the top of this file. */
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579 #pragma inline_asm prvRegTest2Implementation
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580 static void prvRegTest2Implementation( void )
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582 ; Put a known value in each register.
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599 ; Loop, checking on each itteration that each register still contains the
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603 ; Push the registers that are going to get clobbered.
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606 ; Increment the loop counter to show this task is still getting CPU time.
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607 MOV.L #_ulRegTest2CycleCount, R14
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612 ; Restore the clobbered registers.
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646 ; All comparisons passed, start a new itteratio of this loop.
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650 ; A compare failed, just loop here so the loop counter stops incrementing
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651 ; - causing the check task to indicate the error.
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654 /*-----------------------------------------------------------*/
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656 char *pcGetTaskStatusMessage( void )
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658 /* Not bothered about a critical section here. This just returns a string
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659 that is displaed on the "Task Stats" WEB page served by this demo. */
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660 return ( char * ) pcStatusMessage;
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662 /*-----------------------------------------------------------*/
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