2 FreeRTOS V8.2.2 - Copyright (C) 2015 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 This file is part of the FreeRTOS distribution.
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9 FreeRTOS is free software; you can redistribute it and/or modify it under
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10 the terms of the GNU General Public License (version 2) as published by the
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11 Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
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13 ***************************************************************************
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14 >>! NOTE: The modification to the GPL is included to allow you to !<<
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15 >>! distribute a combined work that includes FreeRTOS without being !<<
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16 >>! obliged to provide the source code for proprietary components !<<
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17 >>! outside of the FreeRTOS kernel. !<<
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18 ***************************************************************************
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20 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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21 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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22 FOR A PARTICULAR PURPOSE. Full license text is available on the following
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23 link: http://www.freertos.org/a00114.html
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25 ***************************************************************************
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27 * FreeRTOS provides completely free yet professionally developed, *
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28 * robust, strictly quality controlled, supported, and cross *
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29 * platform software that is more than just the market leader, it *
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30 * is the industry's de facto standard. *
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32 * Help yourself get started quickly while simultaneously helping *
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33 * to support the FreeRTOS project by purchasing a FreeRTOS *
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34 * tutorial book, reference manual, or both: *
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35 * http://www.FreeRTOS.org/Documentation *
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37 ***************************************************************************
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39 http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
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40 the FAQ page "My application does not run, what could be wrong?". Have you
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41 defined configASSERT()?
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43 http://www.FreeRTOS.org/support - In return for receiving this top quality
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44 embedded software for free we request you assist our global community by
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45 participating in the support forum.
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47 http://www.FreeRTOS.org/training - Investing in training allows your team to
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48 be as productive as possible as early as possible. Now you can receive
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49 FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
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50 Ltd, and the world's leading authority on the world's leading RTOS.
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52 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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53 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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54 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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56 http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
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57 Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
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59 http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
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60 Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
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61 licenses offer ticketed support, indemnification and commercial middleware.
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63 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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64 engineered and independently SIL3 certified version for use in safety and
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65 mission critical applications that require provable dependability.
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70 /* ****************************************************************************
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71 * This project includes a lot of tasks and tests and is therefore complex.
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72 * If you would prefer a much simpler project to get started with then select
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73 * the 'Blinky' build configuration within the HEW IDE. The Blinky build
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74 * configuration uses main-blinky.c instead of main-full.c.
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75 * ****************************************************************************
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77 * Creates all the demo application tasks, then starts the scheduler. The web
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78 * documentation provides more details of the standard demo application tasks,
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79 * which provide no particular functionality but do provide a good example of
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80 * how to use the FreeRTOS API. The tasks defined in flop.c are included in the
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81 * set of standard demo tasks to ensure the floating point unit gets some
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84 * In addition to the standard demo tasks, the following tasks and tests are
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85 * defined and/or created within this file:
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87 * "Reg test" tasks - These fill the registers with known values, then
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88 * repeatedly check that each register still contains its expected value for
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89 * the lifetime of the tasks. Each task uses different values. The tasks run
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90 * with very low priority so get preempted very frequently. A check variable
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91 * is incremented on each iteration of the test loop. A register containing an
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92 * unexpected value is indicative of an error in the context switching
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93 * mechanism and will result in a branch to a null loop - which in turn will
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94 * prevent the check variable from incrementing any further and allow the check
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95 * timer (described below) to determine that an error has occurred. The nature
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96 * of the reg test tasks necessitates that they are written in assembly code.
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98 * "Check Timer" and Callback Function - The check timer period is initially
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99 * set to five seconds. The check timer callback function checks that all the
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100 * standard demo tasks are not only still executing, but are executing without
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101 * reporting any errors. If the check timer discovers that a task has either
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102 * stalled, or reported an error, then it changes its own period from the
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103 * initial five seconds, to just 200ms. The check timer callback function
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104 * also toggles LED 3 each time it is called. This provides a visual
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105 * indication of the system status: If the LED toggles every five seconds,
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106 * then no issues have been discovered. If the LED toggles every 200ms, then
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107 * an issue has been discovered with at least one task.
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109 * "High frequency timer test" - A high frequency periodic interrupt is
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110 * generated using a timer - the interrupt is assigned a priority above
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111 * configMAX_SYSCALL_INTERRUPT_PRIORITY, so will not be effected by anything
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112 * the kernel is doing. The frequency and priority of the interrupt, in
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113 * combination with other standard tests executed in this demo, will result
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114 * in interrupts nesting at least 3 and probably 4 deep. This test is only
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115 * included in build configurations that have the optimiser switched on.
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117 * *NOTE 1* If LED3 is toggling every 5 seconds then all the demo application
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118 * tasks are executing as expected and no errors have been reported in any
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119 * tasks. The toggle rate increasing to 200ms indicates that at least one task
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120 * has reported unexpected behaviour.
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122 * *NOTE 2* vApplicationSetupTimerInterrupt() is called by the kernel to let
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123 * the application set up a timer to generate the tick interrupt. In this
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124 * example a compare match timer is used for this purpose.
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126 * *NOTE 3* The CPU must be in Supervisor mode when the scheduler is started.
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127 * The PowerON_Reset_PC() supplied in resetprg.c with this demo has
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128 * Change_PSW_PM_to_UserMode() commented out to ensure this is the case.
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130 * *NOTE 4* The IntQueue common demo tasks test interrupt nesting and make use
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131 * of all the 8bit timers (as two cascaded 16bit units).
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134 /* Hardware specific includes. */
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135 #include "iodefine.h"
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137 /* Kernel includes. */
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138 #include "FreeRTOS.h"
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140 #include "timers.h"
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141 #include "semphr.h"
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143 /* Standard demo includes. */
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144 #include "partest.h"
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146 #include "IntQueue.h"
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147 #include "BlockQ.h"
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149 #include "integer.h"
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150 #include "blocktim.h"
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151 #include "semtest.h"
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153 #include "GenQTest.h"
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155 #include "recmutex.h"
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158 /* Values that are passed into the reg test tasks using the task parameter. The
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159 tasks check that the values are passed in correctly. */
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160 #define mainREG_TEST_1_PARAMETER ( 0x12121212UL )
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161 #define mainREG_TEST_2_PARAMETER ( 0x12345678UL )
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163 /* Priorities at which the tasks are created. */
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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 mainINTEGER_TASK_PRIORITY ( tskIDLE_PRIORITY )
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170 #define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )
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171 #define mainFLOP_TASK_PRIORITY ( tskIDLE_PRIORITY )
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173 /* The LED toggled by the check timer. */
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174 #define mainCHECK_LED ( 3 )
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176 /* The period at which the check timer will expire, in ms, provided no errors
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177 have been reported by any of the standard demo tasks. ms are converted to the
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178 equivalent in ticks using the portTICK_PERIOD_MS constant. */
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179 #define mainCHECK_TIMER_PERIOD_MS ( 5000UL / portTICK_PERIOD_MS )
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181 /* The period at which the check timer will expire, in ms, if an error has been
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182 reported in one of the standard demo tasks. ms are converted to the equivalent
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183 in ticks using the portTICK_PERIOD_MS constant. */
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184 #define mainERROR_CHECK_TIMER_PERIOD_MS ( 200UL / portTICK_PERIOD_MS )
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186 /* A block time of zero simple means "Don't Block". */
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187 #define mainDONT_BLOCK ( 0UL )
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190 * vApplicationMallocFailedHook() will only be called if
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191 * configUSE_MALLOC_FAILED_HOOK is set to 1 in FreeRTOSConfig.h. It is a hook
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192 * function that will execute if a call to pvPortMalloc() fails.
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193 * pvPortMalloc() is called internally by the kernel whenever a task, queue or
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194 * semaphore is created. It is also called by various parts of the demo
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197 void vApplicationMallocFailedHook( void );
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200 * vApplicationIdleHook() will only be called if configUSE_IDLE_HOOK is set to 1
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201 * in FreeRTOSConfig.h. It is a hook function that is called on each iteration
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202 * of the idle task. It is essential that code added to this hook function
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203 * never attempts to block in any way (for example, call xQueueReceive() with
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204 * a block time specified). If the application makes use of the vTaskDelete()
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205 * API function (as this demo application does) then it is also important that
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206 * vApplicationIdleHook() is permitted to return to its calling function because
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207 * it is the responsibility of the idle task to clean up memory allocated by the
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208 * kernel to any task that has since been deleted.
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210 void vApplicationIdleHook( void );
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213 * vApplicationStackOverflowHook() will only be called if
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214 * configCHECK_FOR_STACK_OVERFLOW is set to a non-zero value. The handle and
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215 * name of the offending task should be passed in the function parameters, but
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216 * it is possible that the stack overflow will have corrupted these - in which
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217 * case pxCurrentTCB can be inspected to find the same information.
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219 void vApplicationStackOverflowHook( TaskHandle_t pxTask, char *pcTaskName );
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222 * The reg test tasks as described at the top of this file.
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224 static void prvRegTest1Task( void *pvParameters );
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225 static void prvRegTest2Task( void *pvParameters );
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228 * The actual implementation of the reg test functionality, which, because of
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229 * the direct register access, have to be in assembly.
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231 static void prvRegTest1Implementation( void );
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232 static void prvRegTest2Implementation( void );
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235 * The check timer callback function, as described at the top of this file.
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237 static void prvCheckTimerCallback( TimerHandle_t xTimer );
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240 /*-----------------------------------------------------------*/
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242 /* Variables that are incremented on each iteration of the reg test tasks -
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243 provided the tasks have not reported any errors. The check timer inspects these
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244 variables to ensure they are still incrementing as expected. If a variable
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245 stops incrementing then it is likely that its associate task has stalled. */
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246 unsigned long ulRegTest1CycleCount = 0UL, ulRegTest2CycleCount = 0UL;
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248 /* The check timer. This uses prvCheckTimerCallback() as its callback
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250 static TimerHandle_t xCheckTimer = NULL;
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252 /*-----------------------------------------------------------*/
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256 extern void HardwareSetup( void );
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258 /* Renesas provided CPU configuration routine. The clocks are configured in
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262 /* Turn all LEDs off. */
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263 vParTestInitialise();
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265 /* Start the reg test tasks which test the context switching mechanism. */
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266 xTaskCreate( prvRegTest1Task, "RegTst1", configMINIMAL_STACK_SIZE, ( void * ) mainREG_TEST_1_PARAMETER, tskIDLE_PRIORITY, NULL );
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267 xTaskCreate( prvRegTest2Task, "RegTst2", configMINIMAL_STACK_SIZE, ( void * ) mainREG_TEST_2_PARAMETER, tskIDLE_PRIORITY, NULL );
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269 /* Create the standard demo tasks. */
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270 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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271 vCreateBlockTimeTasks();
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272 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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273 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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274 vStartIntegerMathTasks( mainINTEGER_TASK_PRIORITY );
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275 vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
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276 vStartLEDFlashTasks( mainFLASH_TASK_PRIORITY );
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277 vStartQueuePeekTasks();
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278 vStartRecursiveMutexTasks();
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279 vStartInterruptQueueTasks();
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280 vStartMathTasks( mainFLOP_TASK_PRIORITY );
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282 /* The suicide tasks must be created last as they need to know how many
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283 tasks were running prior to their creation in order to ascertain whether
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284 or not the correct/expected number of tasks are running at any given time. */
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285 vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
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287 /* Create the software timer that performs the 'check' functionality,
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288 as described at the top of this file. */
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289 xCheckTimer = xTimerCreate( "CheckTimer",/* A text name, purely to help debugging. */
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290 ( mainCHECK_TIMER_PERIOD_MS ), /* The timer period, in this case 5000ms (5s). */
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291 pdTRUE, /* This is an auto-reload timer, so xAutoReload is set to pdTRUE. */
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292 ( void * ) 0, /* The ID is not used, so can be set to anything. */
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293 prvCheckTimerCallback /* The callback function that inspects the status of all the other tasks. */
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296 /* Sanity check that the check timer was indeed created. */
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297 configASSERT( xCheckTimer );
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299 /* Start the check timer. It will actually start when the scheduler is
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301 xTimerStart( xCheckTimer, mainDONT_BLOCK );
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303 /* Start the tasks running. */
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304 vTaskStartScheduler();
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306 /* If all is well, the following line will never be reached as the scheduler
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307 will be running. If the following line is reached, there was insufficient
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308 FreeRTOS heap available for the idle task to be created. See
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309 http://www.freertos.org/a00111.html and the malloc failed hook function for
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310 more information. */
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313 /*-----------------------------------------------------------*/
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315 static void prvCheckTimerCallback( TimerHandle_t xTimer )
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317 static long lChangedTimerPeriodAlready = pdFALSE, lErrorStatus = pdPASS;
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318 static volatile unsigned long ulLastRegTest1CycleCount = 0UL, ulLastRegTest2CycleCount = 0UL;
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320 /* Check the standard demo tasks are running without error. */
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321 if( xAreGenericQueueTasksStillRunning() != pdTRUE )
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323 lErrorStatus = pdFAIL;
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325 else if( xAreQueuePeekTasksStillRunning() != pdTRUE )
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327 lErrorStatus = pdFAIL;
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329 else if( xAreBlockingQueuesStillRunning() != pdTRUE )
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331 lErrorStatus = pdFAIL;
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333 else if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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335 lErrorStatus = pdFAIL;
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337 else if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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339 lErrorStatus = pdFAIL;
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341 else if( xArePollingQueuesStillRunning() != pdTRUE )
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343 lErrorStatus = pdFAIL;
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345 else if( xIsCreateTaskStillRunning() != pdTRUE )
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347 lErrorStatus = pdFAIL;
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349 else if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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351 lErrorStatus = pdFAIL;
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353 else if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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355 lErrorStatus = pdFAIL;
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357 else if( xAreIntQueueTasksStillRunning() != pdPASS )
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359 lErrorStatus = pdFAIL;
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361 else if( xAreMathsTaskStillRunning() != pdPASS )
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363 lErrorStatus = pdFAIL;
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366 /* Check the reg test tasks are still cycling. They will stop incrementing
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367 their loop counters if they encounter an error. */
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368 if( ulRegTest1CycleCount == ulLastRegTest1CycleCount )
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370 lErrorStatus = pdFAIL;
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373 if( ulRegTest2CycleCount == ulLastRegTest2CycleCount )
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375 lErrorStatus = pdFAIL;
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378 ulLastRegTest1CycleCount = ulRegTest1CycleCount;
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379 ulLastRegTest2CycleCount = ulRegTest2CycleCount;
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381 /* Toggle the check LED to give an indication of the system status. If
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382 the LED toggles every 5 seconds then everything is ok. A faster toggle
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383 indicates an error. */
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384 vParTestToggleLED( mainCHECK_LED );
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386 /* Was an error detected this time through the callback execution? */
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387 if( lErrorStatus != pdPASS )
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389 if( lChangedTimerPeriodAlready == pdFALSE )
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391 lChangedTimerPeriodAlready = pdTRUE;
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393 /* This call to xTimerChangePeriod() uses a zero block time.
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394 Functions called from inside of a timer callback function must
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395 *never* attempt to block. */
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396 xTimerChangePeriod( xCheckTimer, ( mainERROR_CHECK_TIMER_PERIOD_MS ), mainDONT_BLOCK );
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400 /*-----------------------------------------------------------*/
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402 /* The RX port uses this callback function to configure its tick interrupt.
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403 This allows the application to choose the tick interrupt source. */
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404 void vApplicationSetupTimerInterrupt( void )
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406 /* Enable compare match timer 0. */
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409 /* Interrupt on compare match. */
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410 CMT0.CMCR.BIT.CMIE = 1;
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412 /* Set the compare match value. */
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413 CMT0.CMCOR = ( unsigned short ) ( ( ( configPERIPHERAL_CLOCK_HZ / configTICK_RATE_HZ ) -1 ) / 8 );
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415 /* Divide the PCLK by 8. */
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416 CMT0.CMCR.BIT.CKS = 0;
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418 /* Enable the interrupt... */
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419 _IEN( _CMT0_CMI0 ) = 1;
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421 /* ...and set its priority to the application defined kernel priority. */
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422 _IPR( _CMT0_CMI0 ) = configKERNEL_INTERRUPT_PRIORITY;
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424 /* Start the timer. */
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425 CMT.CMSTR0.BIT.STR0 = 1;
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427 /*-----------------------------------------------------------*/
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429 /* This function is explained by the comments above its prototype at the top
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431 void vApplicationMallocFailedHook( void )
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435 /*-----------------------------------------------------------*/
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437 /* This function is explained by the comments above its prototype at the top
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439 void vApplicationStackOverflowHook( TaskHandle_t pxTask, char *pcTaskName )
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443 /*-----------------------------------------------------------*/
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445 /* This function is explained by the comments above its prototype at the top
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447 void vApplicationIdleHook( void )
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449 /* If this is being executed then the kernel has been started. Start the high
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450 frequency timer test as described at the top of this file. This is only
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451 included in the optimised build configuration - otherwise it takes up too much
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452 CPU time and can disrupt other tests. */
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453 #ifdef INCLUDE_HIGH_FREQUENCY_TIMER_TEST
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454 static portBASE_TYPE xTimerTestStarted = pdFALSE;
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455 extern void vSetupHighFrequencyTimer( void );
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456 if( xTimerTestStarted == pdFALSE )
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458 vSetupHighFrequencyTimer();
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459 xTimerTestStarted = pdTRUE;
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463 /*-----------------------------------------------------------*/
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465 /* This function is explained in the comments at the top of this file. */
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466 static void prvRegTest1Task( void *pvParameters )
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468 if( ( ( unsigned long ) pvParameters ) != mainREG_TEST_1_PARAMETER )
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470 /* The parameter did not contain the expected value. */
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473 /* Stop the tick interrupt so its obvious something has gone wrong. */
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474 taskDISABLE_INTERRUPTS();
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478 /* This is an inline asm function that never returns. */
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479 prvRegTest1Implementation();
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481 /*-----------------------------------------------------------*/
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483 /* This function is explained in the comments at the top of this file. */
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484 static void prvRegTest2Task( void *pvParameters )
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486 if( ( ( unsigned long ) pvParameters ) != mainREG_TEST_2_PARAMETER )
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488 /* The parameter did not contain the expected value. */
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491 /* Stop the tick interrupt so its obvious something has gone wrong. */
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492 taskDISABLE_INTERRUPTS();
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496 /* This is an inline asm function that never returns. */
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497 prvRegTest2Implementation();
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499 /*-----------------------------------------------------------*/
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501 /* This function is explained in the comments at the top of this file. */
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502 #pragma inline_asm prvRegTest1Implementation
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503 static void prvRegTest1Implementation( void )
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505 ; Put a known value in each register.
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522 ; Loop, checking each itteration that each register still contains the
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526 ; Push the registers that are going to get clobbered.
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529 ; Increment the loop counter to show this task is still getting CPU time.
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530 MOV.L #_ulRegTest1CycleCount, R14
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535 ; Yield to extend the text coverage. Set the bit in the ITU SWINTR register.
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537 MOV.L #0872E0H, R15
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542 ; Restore the clobbered registers.
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545 ; Now compare each register to ensure it still contains the value that was
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546 ; set before this loop was entered.
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578 ; All comparisons passed, start a new itteratio of this loop.
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582 ; A compare failed, just loop here so the loop counter stops incrementing
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583 ; causing the check timer to indicate the error.
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586 /*-----------------------------------------------------------*/
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588 /* This function is explained in the comments at the top of this file. */
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589 #pragma inline_asm prvRegTest2Implementation
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590 static void prvRegTest2Implementation( void )
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592 ; Put a known value in each register.
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609 ; Loop, checking on each itteration that each register still contains the
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613 ; Push the registers that are going to get clobbered.
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616 ; Increment the loop counter to show this task is still getting CPU time.
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617 MOV.L #_ulRegTest2CycleCount, R14
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622 ; Restore the clobbered registers.
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656 ; All comparisons passed, start a new itteratio of this loop.
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660 ; A compare failed, just loop here so the loop counter stops incrementing
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661 ; - causing the check timer to indicate the error.
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664 /*-----------------------------------------------------------*/
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