2 FreeRTOS V8.0.1 - Copyright (C) 2014 Real Time Engineers Ltd.
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5 VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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7 ***************************************************************************
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9 * FreeRTOS provides completely free yet professionally developed, *
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10 * robust, strictly quality controlled, supported, and cross *
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11 * platform software that has become a de facto standard. *
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13 * Help yourself get started quickly and support the FreeRTOS *
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14 * project by purchasing a FreeRTOS tutorial book, reference *
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15 * manual, or both from: http://www.FreeRTOS.org/Documentation *
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19 ***************************************************************************
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21 This file is part of the FreeRTOS distribution.
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23 FreeRTOS is free software; you can redistribute it and/or modify it under
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24 the terms of the GNU General Public License (version 2) as published by the
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25 Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
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27 >>! NOTE: The modification to the GPL is included to allow you to !<<
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28 >>! distribute a combined work that includes FreeRTOS without being !<<
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29 >>! obliged to provide the source code for proprietary components !<<
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30 >>! outside of the FreeRTOS kernel. !<<
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32 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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33 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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34 FOR A PARTICULAR PURPOSE. Full license text is available from the following
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35 link: http://www.freertos.org/a00114.html
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39 ***************************************************************************
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41 * Having a problem? Start by reading the FAQ "My application does *
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42 * not run, what could be wrong?" *
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44 * http://www.FreeRTOS.org/FAQHelp.html *
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46 ***************************************************************************
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48 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
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49 license and Real Time Engineers Ltd. contact details.
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51 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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52 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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53 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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55 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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56 Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS
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57 licenses offer ticketed support, indemnification and middleware.
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59 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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60 engineered and independently SIL3 certified version for use in safety and
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61 mission critical applications that require provable dependability.
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66 /* ****************************************************************************
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67 * This project includes a lot of tasks and tests and is therefore complex.
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68 * If you would prefer a much simpler project to get started with then select
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69 * the 'Blinky' build configuration within the HEW IDE.
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70 * ****************************************************************************
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72 * Creates all the demo application tasks, then starts the scheduler. The web
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73 * documentation provides more details of the standard demo application tasks,
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74 * which provide no particular functionality but do provide a good example of
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75 * how to use the FreeRTOS API. The tasks defined in flop.c are included in the
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76 * set of standard demo tasks to ensure the floating point unit gets some
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79 * In addition to the standard demo tasks, the following tasks and tests are
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80 * defined and/or created within this file:
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82 * Webserver ("uIP") task - This serves a number of dynamically generated WEB
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83 * pages to a standard WEB browser. The IP and MAC addresses are configured by
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84 * constants defined at the bottom of FreeRTOSConfig.h. Use either a standard
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85 * Ethernet cable to connect through a hug, or a cross over (point to point)
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86 * cable to connect directly. Ensure the IP address used is compatible with the
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87 * IP address of the machine running the browser - the easiest way to achieve
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88 * this is to ensure the first three octets of the IP addresses are the same.
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90 * "Reg test" tasks - These fill the registers with known values, then check
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91 * that each register still contains its expected value. Each task uses
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92 * different values. The tasks run with very low priority so get preempted
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93 * very frequently. A check variable is incremented on each iteration of the
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94 * test loop. A register containing an unexpected value is indicative of an
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95 * error in the context switching mechanism and will result in a branch to a
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96 * null loop - which in turn will prevent the check variable from incrementing
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97 * any further and allow the check task (described below) to determine that an
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98 * error has occurred. The nature of the reg test tasks necessitates that they
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99 * are written in assembly code.
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101 * "Check" task - This only executes every five seconds but has a high priority
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102 * to ensure it gets processor time. Its main function is to check that all the
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103 * standard demo tasks are still operational. While no errors have been
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104 * discovered the check task will toggle LED 5 (marked LED 9 on the silk
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105 * screen!) every 5 seconds - the toggle rate increasing to 200ms being a visual
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106 * indication that at least one task has reported unexpected behaviour.
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108 * "High frequency timer test" - A high frequency periodic interrupt is
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109 * generated using a timer - the interrupt is assigned a priority above
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110 * configMAX_SYSCALL_INTERRUPT_PRIORITY so should not be effected by anything
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111 * the kernel is doing. The frequency and priority of the interrupt, in
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112 * combination with other standard tests executed in this demo, should result
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113 * in interrupts nesting at least 3 and probably 4 deep. This test is only
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114 * included in build configurations that have the optimiser switched on. In
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115 * optimised builds the count of high frequency ticks is used as the time base
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116 * for the run time stats.
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118 * *NOTE 1* If LED5 is toggling every 5 seconds then all the demo application
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119 * tasks are executing as expected and no errors have been reported in any
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120 * tasks. The toggle rate increasing to 200ms indicates that at least one task
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121 * has reported unexpected behaviour.
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123 * *NOTE 2* vApplicationSetupTimerInterrupt() is called by the kernel to let
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124 * the application set up a timer to generate the tick interrupt. In this
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125 * example a compare match timer is used for this purpose.
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127 * *NOTE 3* The CPU must be in Supervisor mode when the scheduler is started.
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128 * The PowerON_Reset_PC() supplied in resetprg.c with this demo has
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129 * Change_PSW_PM_to_UserMode() commented out to ensure this is the case.
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131 * *NOTE 4* The IntQueue common demo tasks test interrupt nesting and make use
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132 * of all the 8bit timers (as two cascaded 16bit units).
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135 /* Hardware specific includes. */
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136 #include "iodefine.h"
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138 /* Kernel includes. */
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139 #include "FreeRTOS.h"
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142 /* Standard demo includes. */
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143 #include "partest.h"
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145 #include "IntQueue.h"
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146 #include "BlockQ.h"
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148 #include "integer.h"
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149 #include "blocktim.h"
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150 #include "semtest.h"
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152 #include "GenQTest.h"
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154 #include "recmutex.h"
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157 /* Values that are passed into the reg test tasks using the task parameter. The
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158 tasks check that the values are passed in correctly. */
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159 #define mainREG_TEST_1_PARAMETER ( 0x12121212UL )
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160 #define mainREG_TEST_2_PARAMETER ( 0x12345678UL )
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162 /* Priorities at which the tasks are created. */
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163 #define mainCHECK_TASK_PRIORITY ( configMAX_PRIORITIES - 1 )
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164 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 1 )
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165 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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166 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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167 #define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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168 #define mainFLASH_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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169 #define mainuIP_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
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170 #define mainINTEGER_TASK_PRIORITY ( tskIDLE_PRIORITY )
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171 #define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )
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172 #define mainFLOP_TASK_PRIORITY ( tskIDLE_PRIORITY )
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174 /* The WEB server uses string handling functions, which in turn use a bit more
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175 stack than most of the other tasks. */
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176 #define mainuIP_STACK_SIZE ( configMINIMAL_STACK_SIZE * 3 )
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178 /* The LED toggled by the check task. */
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179 #define mainCHECK_LED ( 5 ) /* Marked LED 9 on the RDK silk screen. */
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181 /* The rate at which mainCHECK_LED will toggle when all the tasks are running
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182 without error. Controlled by the check task as described at the top of this
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184 #define mainNO_ERROR_CYCLE_TIME ( 5000 / portTICK_PERIOD_MS )
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186 /* The rate at which mainCHECK_LED will toggle when an error has been reported
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187 by at least one task. Controlled by the check task as described at the top of
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189 #define mainERROR_CYCLE_TIME ( 200 / portTICK_PERIOD_MS )
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192 * vApplicationMallocFailedHook() will only be called if
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193 * configUSE_MALLOC_FAILED_HOOK is set to 1 in FreeRTOSConfig.h. It is a hook
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194 * function that will execute if a call to pvPortMalloc() fails.
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195 * pvPortMalloc() is called internally by the kernel whenever a task, queue or
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196 * semaphore is created. It is also called by various parts of the demo
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199 void vApplicationMallocFailedHook( void );
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202 * vApplicationIdleHook() will only be called if configUSE_IDLE_HOOK is set to 1
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203 * in FreeRTOSConfig.h. It is a hook function that is called on each iteration
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204 * of the idle task. It is essential that code added to this hook function
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205 * never attempts to block in any way (for example, call xQueueReceive() with
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206 * a block time specified). If the application makes use of the vTaskDelete()
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207 * API function (as this demo application does) then it is also important that
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208 * vApplicationIdleHook() is permitted to return to its calling function because
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209 * it is the responsibility of the idle task to clean up memory allocated by the
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210 * kernel to any task that has since been deleted.
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212 void vApplicationIdleHook( void );
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215 * vApplicationStackOverflowHook() will only be called if
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216 * configCHECK_FOR_STACK_OVERFLOW is set to a non-zero value. The handle and
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217 * name of the offending task should be passed in the function parameters, but
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218 * it is possible that the stack overflow will have corrupted these - in which
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219 * case pxCurrentTCB can be inspected to find the same information.
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221 void vApplicationStackOverflowHook( TaskHandle_t pxTask, char *pcTaskName );
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224 * The reg test tasks as described at the top of this file.
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226 static void prvRegTest1Task( void *pvParameters );
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227 static void prvRegTest2Task( void *pvParameters );
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230 * The actual implementation of the reg test functionality, which, because of
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231 * the direct register access, have to be in assembly.
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233 static void prvRegTest1Implementation( void );
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234 static void prvRegTest2Implementation( void );
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237 * The check task as described at the top of this file.
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239 static void prvCheckTask( void *pvParameters );
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242 * Contains the implementation of the WEB server.
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244 extern void vuIP_Task( void *pvParameters );
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246 /*-----------------------------------------------------------*/
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248 /* Variables that are incremented on each iteration of the reg test tasks -
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249 provided the tasks have not reported any errors. The check task inspects these
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250 variables to ensure they are still incrementing as expected. If a variable
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251 stops incrementing then it is likely that its associate task has stalled. */
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252 unsigned long ulRegTest1CycleCount = 0UL, ulRegTest2CycleCount = 0UL;
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254 /* The status message that is displayed at the bottom of the "task stats" web
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255 page, which is served by the uIP task. This will report any errors picked up
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256 by the reg test task. */
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257 const char *pcStatusMessage = "All tasks executing without error.";
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259 /*-----------------------------------------------------------*/
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263 extern void HardwareSetup( void );
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265 /* Renesas provided CPU configuration routine. The clocks are configured in
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269 /* Turn all LEDs off. */
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270 vParTestInitialise();
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272 /* Start the reg test tasks which test the context switching mechanism. */
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273 xTaskCreate( prvRegTest1Task, "RegTst1", configMINIMAL_STACK_SIZE, ( void * ) mainREG_TEST_1_PARAMETER, tskIDLE_PRIORITY, NULL );
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274 xTaskCreate( prvRegTest2Task, "RegTst2", configMINIMAL_STACK_SIZE, ( void * ) mainREG_TEST_2_PARAMETER, tskIDLE_PRIORITY, NULL );
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276 /* The web server task. */
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277 xTaskCreate( vuIP_Task, "uIP", mainuIP_STACK_SIZE, NULL, mainuIP_TASK_PRIORITY, NULL );
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279 /* Start the check task as described at the top of this file. */
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280 xTaskCreate( prvCheckTask, "Check", configMINIMAL_STACK_SIZE * 3, NULL, mainCHECK_TASK_PRIORITY, NULL );
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282 /* Create the standard demo tasks. */
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283 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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284 vCreateBlockTimeTasks();
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285 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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286 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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287 vStartIntegerMathTasks( mainINTEGER_TASK_PRIORITY );
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288 vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
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289 vStartLEDFlashTasks( mainFLASH_TASK_PRIORITY );
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290 vStartQueuePeekTasks();
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291 vStartRecursiveMutexTasks();
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292 vStartInterruptQueueTasks();
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293 vStartMathTasks( mainFLOP_TASK_PRIORITY );
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295 /* The suicide tasks must be created last as they need to know how many
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296 tasks were running prior to their creation in order to ascertain whether
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297 or not the correct/expected number of tasks are running at any given time. */
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298 vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
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300 /* Start the tasks running. */
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301 vTaskStartScheduler();
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303 /* If all is well we will never reach here as the scheduler will now be
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304 running. If we do reach here then it is likely that there was insufficient
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305 heap available for the idle task to be created. */
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308 /*-----------------------------------------------------------*/
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310 static void prvCheckTask( void *pvParameters )
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312 static volatile unsigned long ulLastRegTest1CycleCount = 0UL, ulLastRegTest2CycleCount = 0UL;
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313 TickType_t xNextWakeTime, xCycleFrequency = mainNO_ERROR_CYCLE_TIME;
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314 extern void vSetupHighFrequencyTimer( void );
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316 /* If this is being executed then the kernel has been started. Start the high
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317 frequency timer test as described at the top of this file. This is only
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318 included in the optimised build configuration - otherwise it takes up too much
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319 CPU time and can disrupt other tests. */
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320 #ifdef INCLUDE_HIGH_FREQUENCY_TIMER_TEST
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321 vSetupHighFrequencyTimer();
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324 /* Initialise xNextWakeTime - this only needs to be done once. */
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325 xNextWakeTime = xTaskGetTickCount();
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329 /* Place this task in the blocked state until it is time to run again. */
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330 vTaskDelayUntil( &xNextWakeTime, xCycleFrequency );
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332 /* Check the standard demo tasks are running without error. */
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333 if( xAreGenericQueueTasksStillRunning() != pdTRUE )
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335 /* Increase the rate at which this task cycles, which will increase the
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336 rate at which mainCHECK_LED flashes to give visual feedback that an error
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338 xCycleFrequency = mainERROR_CYCLE_TIME;
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339 pcStatusMessage = "Error: GenQueue";
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341 else if( xAreQueuePeekTasksStillRunning() != pdTRUE )
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343 xCycleFrequency = mainERROR_CYCLE_TIME;
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344 pcStatusMessage = "Error: QueuePeek";
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346 else if( xAreBlockingQueuesStillRunning() != pdTRUE )
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348 xCycleFrequency = mainERROR_CYCLE_TIME;
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349 pcStatusMessage = "Error: BlockQueue";
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351 else if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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353 xCycleFrequency = mainERROR_CYCLE_TIME;
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354 pcStatusMessage = "Error: BlockTime";
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356 else if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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358 xCycleFrequency = mainERROR_CYCLE_TIME;
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359 pcStatusMessage = "Error: SemTest";
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361 else if( xArePollingQueuesStillRunning() != pdTRUE )
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363 xCycleFrequency = mainERROR_CYCLE_TIME;
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364 pcStatusMessage = "Error: PollQueue";
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366 else if( xIsCreateTaskStillRunning() != pdTRUE )
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368 xCycleFrequency = mainERROR_CYCLE_TIME;
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369 pcStatusMessage = "Error: Death";
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371 else if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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373 xCycleFrequency = mainERROR_CYCLE_TIME;
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374 pcStatusMessage = "Error: IntMath";
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376 else if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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378 xCycleFrequency = mainERROR_CYCLE_TIME;
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379 pcStatusMessage = "Error: RecMutex";
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381 else if( xAreIntQueueTasksStillRunning() != pdPASS )
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383 xCycleFrequency = mainERROR_CYCLE_TIME;
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384 pcStatusMessage = "Error: IntQueue";
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386 else if( xAreMathsTaskStillRunning() != pdPASS )
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388 xCycleFrequency = mainERROR_CYCLE_TIME;
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389 pcStatusMessage = "Error: Flop";
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392 /* Check the reg test tasks are still cycling. They will stop incrementing
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393 their loop counters if they encounter an error. */
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394 if( ulRegTest1CycleCount == ulLastRegTest1CycleCount )
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396 xCycleFrequency = mainERROR_CYCLE_TIME;
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397 pcStatusMessage = "Error: RegTest1";
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400 if( ulRegTest2CycleCount == ulLastRegTest2CycleCount )
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402 xCycleFrequency = mainERROR_CYCLE_TIME;
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403 pcStatusMessage = "Error: RegTest2";
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406 ulLastRegTest1CycleCount = ulRegTest1CycleCount;
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407 ulLastRegTest2CycleCount = ulRegTest2CycleCount;
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409 /* Toggle the check LED to give an indication of the system status. If
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410 the LED toggles every 5 seconds then everything is ok. A faster toggle
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411 indicates an error. */
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412 vParTestToggleLED( mainCHECK_LED );
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415 /*-----------------------------------------------------------*/
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417 /* The RX port uses this callback function to configure its tick interrupt.
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418 This allows the application to choose the tick interrupt source. */
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419 void vApplicationSetupTimerInterrupt( void )
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421 /* Enable compare match timer 0. */
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424 /* Interrupt on compare match. */
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425 CMT0.CMCR.BIT.CMIE = 1;
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427 /* Set the compare match value. */
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428 CMT0.CMCOR = ( unsigned short ) ( ( ( configPERIPHERAL_CLOCK_HZ / configTICK_RATE_HZ ) -1 ) / 8 );
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430 /* Divide the PCLK by 8. */
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431 CMT0.CMCR.BIT.CKS = 0;
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433 /* Enable the interrupt... */
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434 _IEN( _CMT0_CMI0 ) = 1;
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436 /* ...and set its priority to the application defined kernel priority. */
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437 _IPR( _CMT0_CMI0 ) = configKERNEL_INTERRUPT_PRIORITY;
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439 /* Start the timer. */
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440 CMT.CMSTR0.BIT.STR0 = 1;
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442 /*-----------------------------------------------------------*/
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444 /* This function is explained by the comments above its prototype at the top
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446 void vApplicationMallocFailedHook( void )
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450 /*-----------------------------------------------------------*/
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452 /* This function is explained by the comments above its prototype at the top
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454 void vApplicationStackOverflowHook( TaskHandle_t pxTask, char *pcTaskName )
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458 /*-----------------------------------------------------------*/
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460 /* This function is explained by the comments above its prototype at the top
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462 void vApplicationIdleHook( void )
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465 /*-----------------------------------------------------------*/
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467 /* This function is explained in the comments at the top of this file. */
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468 static void prvRegTest1Task( void *pvParameters )
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470 if( ( ( unsigned long ) pvParameters ) != mainREG_TEST_1_PARAMETER )
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472 /* The parameter did not contain the expected value. */
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475 /* Stop the tick interrupt so its obvious something has gone wrong. */
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476 taskDISABLE_INTERRUPTS();
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480 /* This is an inline asm function that never returns. */
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481 prvRegTest1Implementation();
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483 /*-----------------------------------------------------------*/
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485 /* This function is explained in the comments at the top of this file. */
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486 static void prvRegTest2Task( void *pvParameters )
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488 if( ( ( unsigned long ) pvParameters ) != mainREG_TEST_2_PARAMETER )
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490 /* The parameter did not contain the expected value. */
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493 /* Stop the tick interrupt so its obvious something has gone wrong. */
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494 taskDISABLE_INTERRUPTS();
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498 /* This is an inline asm function that never returns. */
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499 prvRegTest2Implementation();
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501 /*-----------------------------------------------------------*/
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503 /* This function is explained in the comments at the top of this file. */
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504 #pragma inline_asm prvRegTest1Implementation
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505 static void prvRegTest1Implementation( void )
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507 ; Put a known value in each register.
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524 ; Loop, checking each itteration that each register still contains the
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528 ; Push the registers that are going to get clobbered.
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531 ; Increment the loop counter to show this task is still getting CPU time.
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532 MOV.L #_ulRegTest1CycleCount, R14
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537 ; Yield to extend the text coverage. Set the bit in the ITU SWINTR register.
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539 MOV.L #0872E0H, R15
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544 ; Restore the clobbered registers.
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547 ; Now compare each register to ensure it still contains the value that was
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548 ; set before this loop was entered.
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580 ; All comparisons passed, start a new itteratio of this loop.
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584 ; A compare failed, just loop here so the loop counter stops incrementing
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585 ; causing the check task to indicate the error.
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588 /*-----------------------------------------------------------*/
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590 /* This function is explained in the comments at the top of this file. */
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591 #pragma inline_asm prvRegTest2Implementation
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592 static void prvRegTest2Implementation( void )
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594 ; Put a known value in each register.
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611 ; Loop, checking on each itteration that each register still contains the
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615 ; Push the registers that are going to get clobbered.
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618 ; Increment the loop counter to show this task is still getting CPU time.
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619 MOV.L #_ulRegTest2CycleCount, R14
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624 ; Restore the clobbered registers.
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658 ; All comparisons passed, start a new itteratio of this loop.
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662 ; A compare failed, just loop here so the loop counter stops incrementing
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663 ; - causing the check task to indicate the error.
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666 /*-----------------------------------------------------------*/
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668 char *pcGetTaskStatusMessage( void )
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670 /* Not bothered about a critical section here although technically because of
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671 the task priorities the pointer could change it will be atomic if not near
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672 atomic and its not critical. */
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673 return ( char * ) pcStatusMessage;
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675 /*-----------------------------------------------------------*/
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