2 FreeRTOS V7.5.1 - Copyright (C) 2013 Real Time Engineers Ltd.
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4 VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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6 ***************************************************************************
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8 * FreeRTOS provides completely free yet professionally developed, *
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9 * robust, strictly quality controlled, supported, and cross *
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10 * platform software that has become a de facto standard. *
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12 * Help yourself get started quickly and support the FreeRTOS *
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13 * project by purchasing a FreeRTOS tutorial book, reference *
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14 * manual, or both from: http://www.FreeRTOS.org/Documentation *
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18 ***************************************************************************
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20 This file is part of the FreeRTOS distribution.
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22 FreeRTOS is free software; you can redistribute it and/or modify it under
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23 the terms of the GNU General Public License (version 2) as published by the
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24 Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
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26 >>! NOTE: The modification to the GPL is included to allow you to distribute
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27 >>! a combined work that includes FreeRTOS without being obliged to provide
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28 >>! the source code for proprietary components outside of the FreeRTOS
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31 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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32 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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33 FOR A PARTICULAR PURPOSE. Full license text is available from the following
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34 link: http://www.freertos.org/a00114.html
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38 ***************************************************************************
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40 * Having a problem? Start by reading the FAQ "My application does *
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41 * not run, what could be wrong?" *
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43 * http://www.FreeRTOS.org/FAQHelp.html *
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45 ***************************************************************************
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47 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
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48 license and Real Time Engineers Ltd. contact details.
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50 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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51 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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52 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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54 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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55 Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS
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56 licenses offer ticketed support, indemnification and middleware.
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58 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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59 engineered and independently SIL3 certified version for use in safety and
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60 mission critical applications that require provable dependability.
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67 * Creates all the demo application tasks, then starts the scheduler. The WEB
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68 * documentation provides more details of the standard demo application tasks.
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69 * In addition to the standard demo tasks, the following tasks and tests are
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70 * defined and/or created within this file:
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72 * "Check" task - This only executes every five seconds but has a high priority
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73 * to ensure it gets processor time. Its main function is to check that all the
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74 * standard demo tasks are still operational. While no errors have been
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75 * discovered the check task will toggle an LED every 5 seconds - the toggle
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76 * rate increasing to 500ms being a visual indication that at least one task has
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77 * reported unexpected behaviour.
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79 * "Reg test" tasks - These fill the registers with known values, then check
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80 * that each register still contains its expected value. Each task uses
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81 * different values. The tasks run with very low priority so get preempted very
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82 * frequently. A register containing an unexpected value is indicative of an
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83 * error in the context switching mechanism.
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87 /* Standard includes. */
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90 /* Scheduler includes. */
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91 #include "FreeRTOS.h"
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96 /* Demo app includes. */
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99 #include "integer.h"
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101 #include "partest.h"
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102 #include "semtest.h"
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104 #include "GenQTest.h"
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106 #include "recmutex.h"
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107 #include "IntQueue.h"
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108 #include "comtest2.h"
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110 /*-----------------------------------------------------------*/
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112 /* The time between cycles of the 'check' functionality - as described at the
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113 top of this file. */
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114 #define mainNO_ERROR_PERIOD ( ( portTickType ) 5000 / portTICK_RATE_MS )
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116 /* The rate at which the LED controlled by the 'check' task will flash should an
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117 error have been detected. */
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118 #define mainERROR_PERIOD ( ( portTickType ) 500 / portTICK_RATE_MS )
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120 /* The LED controlled by the 'check' task. */
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121 #define mainCHECK_LED ( 3 )
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123 /* ComTest constants - there is no free LED for the comtest tasks. */
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124 #define mainCOM_TEST_BAUD_RATE ( ( unsigned portLONG ) 19200 )
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125 #define mainCOM_TEST_LED ( 5 )
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127 /* Task priorities. */
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128 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
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129 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
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130 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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131 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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132 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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133 #define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
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134 #define mainINTEGER_TASK_PRIORITY ( tskIDLE_PRIORITY )
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135 #define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )
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138 * Configure the hardware for the demo.
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140 static void prvSetupHardware( void );
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143 * Implements the 'check' task functionality as described at the top of this
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146 static void prvCheckTask( void *pvParameters );
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149 * Implement the 'Reg test' functionality as described at the top of this file.
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151 static void vRegTest1Task( void *pvParameters );
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152 static void vRegTest2Task( void *pvParameters );
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154 /*-----------------------------------------------------------*/
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156 /* Counters used to detect errors within the reg test tasks. */
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157 static volatile unsigned portLONG ulRegTest1Counter = 0x11111111, ulRegTest2Counter = 0x22222222;
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159 /*-----------------------------------------------------------*/
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163 /* Setup the hardware ready for this demo. */
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164 prvSetupHardware();
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166 /* Start the standard demo tasks. */
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167 vStartLEDFlashTasks( tskIDLE_PRIORITY );
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168 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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169 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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170 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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171 vStartIntegerMathTasks( mainINTEGER_TASK_PRIORITY );
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172 vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
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173 vStartQueuePeekTasks();
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174 vStartRecursiveMutexTasks();
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175 vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
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176 vStartInterruptQueueTasks();
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178 /* Start the reg test tasks - defined in this file. */
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179 xTaskCreate( vRegTest1Task, ( signed portCHAR * ) "Reg1", configMINIMAL_STACK_SIZE, ( void * ) &ulRegTest1Counter, tskIDLE_PRIORITY, NULL );
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180 xTaskCreate( vRegTest2Task, ( signed portCHAR * ) "Reg2", configMINIMAL_STACK_SIZE, ( void * ) &ulRegTest2Counter, tskIDLE_PRIORITY, NULL );
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182 /* Create the check task. */
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183 xTaskCreate( prvCheckTask, ( signed portCHAR * ) "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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185 /* The suicide tasks must be created last as they need to know how many
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186 tasks were running prior to their creation in order to ascertain whether
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187 or not the correct/expected number of tasks are running at any given time. */
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188 vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
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190 /* Start the scheduler. */
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191 vTaskStartScheduler();
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193 /* Will only get here if there was insufficient memory to create the idle
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197 /*-----------------------------------------------------------*/
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199 static void prvCheckTask( void *pvParameters )
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201 unsigned ulTicksToWait = mainNO_ERROR_PERIOD, ulError = 0, ulLastRegTest1Count = 0, ulLastRegTest2Count = 0;
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202 portTickType xLastExecutionTime;
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204 ( void ) pvParameters;
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206 /* Initialise the variable used to control our iteration rate prior to
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208 xLastExecutionTime = xTaskGetTickCount();
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212 /* Wait until it is time to run the tests again. */
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213 vTaskDelayUntil( &xLastExecutionTime, ulTicksToWait );
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215 /* Has an error been found in any task? */
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216 if( xAreGenericQueueTasksStillRunning() != pdTRUE )
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221 if( xAreQueuePeekTasksStillRunning() != pdTRUE )
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226 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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231 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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236 if( xArePollingQueuesStillRunning() != pdTRUE )
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241 if( xIsCreateTaskStillRunning() != pdTRUE )
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246 if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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248 ulError |= 0x100UL;
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251 if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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253 ulError |= 0x200UL;
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256 if( xAreComTestTasksStillRunning() != pdTRUE )
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258 ulError |= 0x400UL;
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261 if( xAreIntQueueTasksStillRunning() != pdTRUE )
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263 ulError |= 0x800UL;
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266 if( ulLastRegTest1Count == ulRegTest1Counter )
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268 ulError |= 0x1000UL;
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271 if( ulLastRegTest2Count == ulRegTest2Counter )
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273 ulError |= 0x1000UL;
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276 ulLastRegTest1Count = ulRegTest1Counter;
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277 ulLastRegTest2Count = ulRegTest2Counter;
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279 /* If an error has been found then increase our cycle rate, and in so
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280 going increase the rate at which the check task LED toggles. */
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283 ulTicksToWait = mainERROR_PERIOD;
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286 /* Toggle the LED each itteration. */
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287 vParTestToggleLED( mainCHECK_LED );
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290 /*-----------------------------------------------------------*/
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292 void prvSetupHardware( void )
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294 extern void mcf5xxx_wr_cacr( unsigned portLONG );
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296 portDISABLE_INTERRUPTS();
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298 /* Enable the cache. */
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299 mcf5xxx_wr_cacr( MCF5XXX_CACR_CENB | MCF5XXX_CACR_CINV | MCF5XXX_CACR_DISD | MCF5XXX_CACR_CEIB | MCF5XXX_CACR_CLNF_00 );
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300 asm volatile( "NOP" ); /* As per errata. */
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302 /* Multiply 8Mhz reference crystal by 8 to achieve system clock of 64Mhz. */
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303 MCF_CLOCK_SYNCR = MCF_CLOCK_SYNCR_MFD( 2 );
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305 /* Wait for PLL to lock. */
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306 while( !( MCF_CLOCK_SYNSR & MCF_CLOCK_SYNSR_LOCK ) )
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308 __asm__ volatile ( "NOP" );
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311 /* Setup the port used to toggle LEDs. */
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312 vParTestInitialise();
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314 /*-----------------------------------------------------------*/
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316 void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed portCHAR *pcTaskName )
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318 /* This will get called if a stack overflow is detected during the context
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319 switch. Set configCHECK_FOR_STACK_OVERFLOWS to 2 to also check for stack
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320 problems within nested interrupts, but only do this for debug purposes as
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321 it will increase the context switch time. */
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324 ( void ) pcTaskName;
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328 /*-----------------------------------------------------------*/
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330 static void vRegTest1Task( void *pvParameters )
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332 /* Sanity check - did we receive the parameter expected? */
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333 if( pvParameters != &ulRegTest1Counter )
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335 /* Change here so the check task can detect that an error occurred. */
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339 /* Set all the registers to known values, then check that each retains its
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340 expected value - as described at the top of this file. If an error is
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341 found then the loop counter will no longer be incremented allowing the check
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342 task to recognise the error. */
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343 asm volatile ( "reg_test_1_start: \n\t"
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344 " moveq #1, %d0 \n\t"
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345 " moveq #2, %d1 \n\t"
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346 " moveq #3, %d2 \n\t"
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347 " moveq #4, %d3 \n\t"
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348 " moveq #5, %d4 \n\t"
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349 " moveq #6, %d5 \n\t"
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350 " moveq #7, %d6 \n\t"
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351 " moveq #8, %d7 \n\t"
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352 " move #9, %a0 \n\t"
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353 " move #10, %a1 \n\t"
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354 " move #11, %a2 \n\t"
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355 " move #12, %a3 \n\t"
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356 " move #13, %a4 \n\t"
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357 " move #14, %a5 \n\t"
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358 " move #15, %a6 \n\t"
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360 " cmpi.l #1, %d0 \n\t"
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361 " bne reg_test_1_error \n\t"
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362 " cmpi.l #2, %d1 \n\t"
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363 " bne reg_test_1_error \n\t"
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364 " cmpi.l #3, %d2 \n\t"
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365 " bne reg_test_1_error \n\t"
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366 " cmpi.l #4, %d3 \n\t"
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367 " bne reg_test_1_error \n\t"
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368 " cmpi.l #5, %d4 \n\t"
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369 " bne reg_test_1_error \n\t"
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370 " cmpi.l #6, %d5 \n\t"
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371 " bne reg_test_1_error \n\t"
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372 " cmpi.l #7, %d6 \n\t"
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373 " bne reg_test_1_error \n\t"
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374 " cmpi.l #8, %d7 \n\t"
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375 " bne reg_test_1_error \n\t"
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376 " move %a0, %d0 \n\t"
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377 " cmpi.l #9, %d0 \n\t"
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378 " bne reg_test_1_error \n\t"
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379 " move %a1, %d0 \n\t"
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380 " cmpi.l #10, %d0 \n\t"
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381 " bne reg_test_1_error \n\t"
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382 " move %a2, %d0 \n\t"
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383 " cmpi.l #11, %d0 \n\t"
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384 " bne reg_test_1_error \n\t"
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385 " move %a3, %d0 \n\t"
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386 " cmpi.l #12, %d0 \n\t"
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387 " bne reg_test_1_error \n\t"
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388 " move %a4, %d0 \n\t"
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389 " cmpi.l #13, %d0 \n\t"
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390 " bne reg_test_1_error \n\t"
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391 " move %a5, %d0 \n\t"
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392 " cmpi.l #14, %d0 \n\t"
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393 " bne reg_test_1_error \n\t"
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394 " move %a6, %d0 \n\t"
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395 " cmpi.l #15, %d0 \n\t"
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396 " bne reg_test_1_error \n\t"
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397 " movel ulRegTest1Counter, %d0 \n\t"
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398 " addql #1, %d0 \n\t"
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399 " movel %d0, ulRegTest1Counter \n\t"
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400 " bra reg_test_1_start \n\t"
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401 "reg_test_1_error: \n\t"
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402 " bra reg_test_1_error \n\t"
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405 /*-----------------------------------------------------------*/
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407 static void vRegTest2Task( void *pvParameters )
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409 /* Sanity check - did we receive the parameter expected? */
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410 if( pvParameters != &ulRegTest2Counter )
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412 /* Change here so the check task can detect that an error occurred. */
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416 /* Set all the registers to known values, then check that each retains its
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417 expected value - as described at the top of this file. If an error is
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418 found then the loop counter will no longer be incremented allowing the check
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419 task to recognise the error. */
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420 asm volatile ( "reg_test_2_start: \n\t"
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421 " moveq #10, %d0 \n\t"
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422 " moveq #20, %d1 \n\t"
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423 " moveq #30, %d2 \n\t"
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424 " moveq #40, %d3 \n\t"
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425 " moveq #50, %d4 \n\t"
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426 " moveq #60, %d5 \n\t"
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427 " moveq #70, %d6 \n\t"
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428 " moveq #80, %d7 \n\t"
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429 " move #90, %a0 \n\t"
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430 " move #100, %a1 \n\t"
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431 " move #110, %a2 \n\t"
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432 " move #120, %a3 \n\t"
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433 " move #130, %a4 \n\t"
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434 " move #140, %a5 \n\t"
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435 " move #150, %a6 \n\t"
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437 " cmpi.l #10, %d0 \n\t"
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438 " bne reg_test_2_error \n\t"
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439 " cmpi.l #20, %d1 \n\t"
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440 " bne reg_test_2_error \n\t"
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441 " cmpi.l #30, %d2 \n\t"
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442 " bne reg_test_2_error \n\t"
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443 " cmpi.l #40, %d3 \n\t"
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444 " bne reg_test_2_error \n\t"
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445 " cmpi.l #50, %d4 \n\t"
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446 " bne reg_test_2_error \n\t"
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447 " cmpi.l #60, %d5 \n\t"
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448 " bne reg_test_2_error \n\t"
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449 " cmpi.l #70, %d6 \n\t"
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450 " bne reg_test_2_error \n\t"
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451 " cmpi.l #80, %d7 \n\t"
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452 " bne reg_test_2_error \n\t"
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453 " move %a0, %d0 \n\t"
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454 " cmpi.l #90, %d0 \n\t"
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455 " bne reg_test_2_error \n\t"
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456 " move %a1, %d0 \n\t"
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457 " cmpi.l #100, %d0 \n\t"
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458 " bne reg_test_2_error \n\t"
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459 " move %a2, %d0 \n\t"
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460 " cmpi.l #110, %d0 \n\t"
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461 " bne reg_test_2_error \n\t"
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462 " move %a3, %d0 \n\t"
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463 " cmpi.l #120, %d0 \n\t"
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464 " bne reg_test_2_error \n\t"
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465 " move %a4, %d0 \n\t"
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466 " cmpi.l #130, %d0 \n\t"
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467 " bne reg_test_2_error \n\t"
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468 " move %a5, %d0 \n\t"
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469 " cmpi.l #140, %d0 \n\t"
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470 " bne reg_test_2_error \n\t"
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471 " move %a6, %d0 \n\t"
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472 " cmpi.l #150, %d0 \n\t"
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473 " bne reg_test_2_error \n\t"
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474 " movel ulRegTest1Counter, %d0 \n\t"
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475 " addql #1, %d0 \n\t"
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476 " movel %d0, ulRegTest2Counter \n\t"
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477 " bra reg_test_2_start \n\t"
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478 "reg_test_2_error: \n\t"
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479 " bra reg_test_2_error \n\t"
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482 /*-----------------------------------------------------------*/
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