2 FreeRTOS V7.1.1 - Copyright (C) 2012 Real Time Engineers Ltd.
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5 ***************************************************************************
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7 * FreeRTOS tutorial books are available in pdf and paperback. *
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8 * Complete, revised, and edited pdf reference manuals are also *
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11 * Purchasing FreeRTOS documentation will not only help you, by *
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12 * ensuring you get running as quickly as possible and with an *
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13 * in-depth knowledge of how to use FreeRTOS, it will also help *
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14 * the FreeRTOS project to continue with its mission of providing *
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15 * professional grade, cross platform, de facto standard solutions *
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16 * for microcontrollers - completely free of charge! *
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18 * >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
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20 * Thank you for using FreeRTOS, and thank you for your support! *
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22 ***************************************************************************
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25 This file is part of the FreeRTOS distribution.
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27 FreeRTOS is free software; you can redistribute it and/or modify it under
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28 the terms of the GNU General Public License (version 2) as published by the
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29 Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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30 >>>NOTE<<< The modification to the GPL is included to allow you to
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31 distribute a combined work that includes FreeRTOS without being obliged to
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32 provide the source code for proprietary components outside of the FreeRTOS
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33 kernel. FreeRTOS is distributed in the hope that it will be useful, but
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34 WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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35 or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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36 more details. You should have received a copy of the GNU General Public
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37 License and the FreeRTOS license exception along with FreeRTOS; if not it
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38 can be viewed here: http://www.freertos.org/a00114.html and also obtained
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39 by writing to Richard Barry, contact details for whom are available on the
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44 ***************************************************************************
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46 * Having a problem? Start by reading the FAQ "My application does *
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47 * not run, what could be wrong? *
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49 * http://www.FreeRTOS.org/FAQHelp.html *
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51 ***************************************************************************
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54 http://www.FreeRTOS.org - Documentation, training, latest information,
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55 license and contact details.
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57 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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58 including FreeRTOS+Trace - an indispensable productivity tool.
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60 Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell
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61 the code with commercial support, indemnification, and middleware, under
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62 the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also
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63 provide a safety engineered and independently SIL3 certified version under
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64 the SafeRTOS brand: http://www.SafeRTOS.com.
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69 * Creates all the demo application tasks, then starts the scheduler. The WEB
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70 * documentation provides more details of the demo application tasks.
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72 * In addition to the standard demo tasks, the follow demo specific tasks are
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75 * The "Check" task. This only executes every three seconds but has the highest
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76 * priority so is guaranteed to get processor time. Its main function is to
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77 * check that all the other tasks are still operational. Most tasks maintain
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78 * a unique count that is incremented each time the task successfully completes
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79 * its function. Should any error occur within such a task the count is
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80 * permanently halted. The check task inspects the count of each task to ensure
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81 * it has changed since the last time the check task executed. If all the count
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82 * variables have changed all the tasks are still executing error free, and the
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83 * check task toggles the onboard LED. Should any task contain an error at any time
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84 * the LED toggle rate will change from 3 seconds to 500ms.
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86 * The "Register Check" tasks. These tasks fill the CPU registers with known
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87 * values, then check that each register still contains the expected value 0 the
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88 * discovery of an unexpected value being indicative of an error in the RTOS
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89 * context switch mechanism. The register check tasks operate at low priority
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90 * so are switched in and out frequently.
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92 * The "Trace Utility" task. This can be used to obtain trace and debug
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93 * information via UART5.
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97 /* Hardware specific includes. */
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98 #include "mb91467d.h"
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99 #include "vectors.h"
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100 #include "watchdog.h"
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102 /* Scheduler includes. */
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103 #include "FreeRTOS.h"
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106 /* Demo app includes. */
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108 #include "integer.h"
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109 #include "comtest2.h"
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110 #include "semtest.h"
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111 #include "BlockQ.h"
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112 #include "dynamic.h"
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114 #include "GenQTest.h"
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116 #include "blocktim.h"
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118 #include "taskutility.h"
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119 #include "partest.h"
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120 #include "crflash.h"
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122 /* Demo task priorities. */
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123 #define mainWATCHDOG_TASK_PRIORITY ( tskIDLE_PRIORITY + 5 )
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124 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 4 )
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125 #define mainUTILITY_TASK_PRIORITY ( tskIDLE_PRIORITY )
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126 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 3 )
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127 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
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128 #define mainQUEUE_BLOCK_PRIORITY ( tskIDLE_PRIORITY + 2 )
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129 #define mainDEATH_PRIORITY ( tskIDLE_PRIORITY + 1 )
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130 #define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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131 #define mainGENERIC_QUEUE_PRIORITY ( tskIDLE_PRIORITY )
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133 /* Baud rate used by the COM test tasks. */
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134 #define mainCOM_TEST_BAUD_RATE ( ( unsigned portLONG ) 19200 )
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136 /* The frequency at which the 'Check' tasks executes. See the comments at the
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137 top of the page. When the system is operating error free the 'Check' task
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138 toggles an LED every three seconds. If an error is discovered in any task the
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139 rate is increased to 500 milliseconds. [in this case the '*' characters on the
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140 LCD represent LEDs]*/
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141 #define mainNO_ERROR_CHECK_DELAY ( ( portTickType ) 3000 / portTICK_RATE_MS )
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142 #define mainERROR_CHECK_DELAY ( ( portTickType ) 500 / portTICK_RATE_MS )
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144 /* The total number of LEDs available. */
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145 #define mainNO_CO_ROUTINE_LEDs ( 8 )
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147 /* The first LED used by the comtest tasks. */
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148 #define mainCOM_TEST_LED ( 0x05 )
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150 /* The LED used by the check task. */
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151 #define mainCHECK_TEST_LED ( 0x07 )
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153 /* The number of interrupt levels to use. */
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154 #define mainINTERRUPT_LEVELS ( 31 )
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156 /* The number of 'flash' co-routines to create - each toggles a different LED. */
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157 #define mainNUM_FLASH_CO_ROUTINES ( 8 )
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159 /*---------------------------------------------------------------------------*/
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162 * The function that implements the Check task. See the comments at the head
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163 * of the page for implementation details.
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165 static void prvErrorChecks( void *pvParameters );
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168 * Called by the Check task. Returns pdPASS if all the other tasks are found
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169 * to be operating without error - otherwise returns pdFAIL.
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171 static portSHORT prvCheckOtherTasksAreStillRunning( void );
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174 * Setup the microcontroller as used by this demo.
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176 static void prvSetupHardware( void );
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179 * Tasks that test the context switch mechanism by filling the CPU registers
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180 * with known values then checking that each register contains the value
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181 * expected. Each of the two tasks use different values, and as low priority
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182 * tasks, get swapped in and out regularly.
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184 static void vFirstRegisterTestTask( void *pvParameters );
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185 static void vSecondRegisterTestTask( void *pvParameters );
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187 /*---------------------------------------------------------------------------*/
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189 /* The variable that is set to true should an error be found in one of the
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190 register test tasks. */
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191 unsigned portLONG ulRegTestError = pdFALSE;
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193 /*---------------------------------------------------------------------------*/
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195 /* Start all the demo application tasks, then start the scheduler. */
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198 /* Initialise the hardware ready for the demo. */
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199 prvSetupHardware();
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201 /* Start the standard demo application tasks. */
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202 vStartLEDFlashTasks( mainLED_TASK_PRIORITY );
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203 vStartIntegerMathTasks( tskIDLE_PRIORITY );
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204 vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED - 1 );
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205 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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206 vStartBlockingQueueTasks ( mainQUEUE_BLOCK_PRIORITY );
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207 vStartDynamicPriorityTasks();
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208 vStartMathTasks( tskIDLE_PRIORITY );
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209 vStartGenericQueueTasks( mainGENERIC_QUEUE_PRIORITY );
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210 vStartQueuePeekTasks();
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211 vCreateBlockTimeTasks();
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212 vStartFlashCoRoutines( mainNUM_FLASH_CO_ROUTINES );
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214 /* Start the 'Check' task which is defined in this file. */
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215 xTaskCreate( prvErrorChecks, ( signed portCHAR * ) "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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217 /* Start the 'Register Test' tasks as described at the top of this file. */
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218 xTaskCreate( vFirstRegisterTestTask, ( signed portCHAR * ) "Reg1", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
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219 xTaskCreate( vSecondRegisterTestTask, ( signed portCHAR * ) "Reg2", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
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221 /* Start the task that write trace information to the UART. */
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222 vUtilityStartTraceTask( mainUTILITY_TASK_PRIORITY );
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224 /* If we are going to service the watchdog from within a task, then create
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226 #if WATCHDOG == WTC_IN_TASK
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227 vStartWatchdogTask( mainWATCHDOG_TASK_PRIORITY );
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230 /* The suicide tasks must be started last as they record the number of other
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231 tasks that exist within the system. The value is then used to ensure at run
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232 time the number of tasks that exists is within expected bounds. */
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233 vCreateSuicidalTasks( mainDEATH_PRIORITY );
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235 /* Now start the scheduler. Following this call the created tasks should
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237 vTaskStartScheduler( );
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239 /* vTaskStartScheduler() will only return if an error occurs while the
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240 idle task is being created. */
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243 /*-----------------------------------------------------------*/
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245 static void prvErrorChecks( void *pvParameters )
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247 portTickType xDelayPeriod = mainNO_ERROR_CHECK_DELAY, xLastExecutionTime;
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249 /* Initialise xLastExecutionTime so the first call to vTaskDelayUntil()
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250 works correctly. */
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251 xLastExecutionTime = xTaskGetTickCount();
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253 /* Cycle for ever, delaying then checking all the other tasks are still
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254 operating without error. */
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257 /* Wait until it is time to check again. The time we wait here depends
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258 on whether an error has been detected or not. When an error is
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259 detected the time is shortened resulting in a faster LED flash rate. */
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260 /* Perform this check every mainCHECK_DELAY milliseconds. */
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261 vTaskDelayUntil( &xLastExecutionTime, xDelayPeriod );
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263 /* See if the other tasks are all ok. */
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264 if( prvCheckOtherTasksAreStillRunning() != pdPASS )
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266 /* An error occurred in one of the tasks so shorten the delay
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267 period - which has the effect of increasing the frequency of the
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269 xDelayPeriod = mainERROR_CHECK_DELAY;
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273 vParTestToggleLED( mainCHECK_TEST_LED );
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276 /*-----------------------------------------------------------*/
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278 static portSHORT prvCheckOtherTasksAreStillRunning( void )
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280 portBASE_TYPE lReturn = pdPASS;
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282 /* The demo tasks maintain a count that increments every cycle of the task
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283 provided that the task has never encountered an error. This function
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284 checks the counts maintained by the tasks to ensure they are still being
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285 incremented. A count remaining at the same value between calls therefore
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286 indicates that an error has been detected. */
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288 if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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293 if( xAreComTestTasksStillRunning() != pdTRUE )
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298 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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303 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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308 if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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313 if( xAreMathsTaskStillRunning() != pdTRUE )
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318 if( xIsCreateTaskStillRunning() != pdTRUE )
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323 if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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328 if ( xAreGenericQueueTasksStillRunning() != pdTRUE )
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333 if ( xAreQueuePeekTasksStillRunning() != pdTRUE )
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338 /* Have the register test tasks found any errors? */
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339 if( ulRegTestError != pdFALSE )
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346 /*-----------------------------------------------------------*/
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348 static void prvSetupHardware( void )
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350 /* Allow all interrupt levels. */
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351 __set_il( mainINTERRUPT_LEVELS );
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353 /* Initialise interrupts. */
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356 /* Initialise the ports used by the LEDs. */
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357 vParTestInitialise();
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359 /* If we are going to use the watchdog, then initialise it now. */
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360 #if WATCHDOG != WTC_NONE
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364 /*-----------------------------------------------------------*/
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366 /* Idle hook function. */
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367 #if configUSE_IDLE_HOOK == 1
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368 void vApplicationIdleHook( void )
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370 /* Are we using the idle task to kick the watchdog? See watchdog.h
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371 for watchdog kicking options. Note this is for demonstration only
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372 and is not a suggested method of servicing the watchdog in a real
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374 #if WATCHDOG == WTC_IN_IDLE
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378 vCoRoutineSchedule();
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381 #if WATCHDOG == WTC_IN_IDLE
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382 #error configUSE_IDLE_HOOK must be set to 1 in FreeRTOSConfig.h if the watchdog is being cleared in the idle task hook.
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386 /*-----------------------------------------------------------*/
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388 /* Tick hook function. */
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389 #if configUSE_TICK_HOOK == 1
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390 void vApplicationTickHook( void )
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392 /* Are we using the tick to kick the watchdog? See watchdog.h
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393 for watchdog kicking options. Note this is for demonstration
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394 only and is not a suggested method of servicing the watchdog in
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395 a real application. */
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396 #if WATCHDOG == WTC_IN_TICK
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401 #if WATCHDOG == WTC_IN_TICK
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402 #error configUSE_TICK_HOOK must be set to 1 in FreeRTOSConfig.h if the watchdog is being cleared in the tick hook.
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405 /*-----------------------------------------------------------*/
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407 static void vFirstRegisterTestTask( void *pvParameters )
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409 extern volatile unsigned portLONG ulCriticalNesting;
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411 /* Fills the registers with known values (different to the values
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412 used in vSecondRegisterTestTask()), then checks that the registers still
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413 all contain the expected value. This is done to test the context save
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414 and restore mechanism as this task is swapped onto and off of the CPU. */
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419 ;Load known values into each register.
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420 LDI #0x11111111, R0
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421 LDI #0x22222222, R1
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422 LDI #0x33333333, R2
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423 LDI #0x44444444, R3
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424 LDI #0x55555555, R4
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425 LDI #0x66666666, R5
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426 LDI #0x77777777, R6
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427 LDI #0x88888888, R7
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428 LDI #0x99999999, R8
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429 LDI #0xaaaaaaaa, R9
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430 LDI #0xbbbbbbbb, R10
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431 LDI #0xcccccccc, R11
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432 LDI #0xdddddddd, R12
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434 ;Check each register still contains the expected value.
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435 LDI #0x11111111, R13
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437 BNE First_Set_Error
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439 LDI #0x22222222, R13
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441 BNE First_Set_Error
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443 LDI #0x33333333, R13
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445 BNE First_Set_Error
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447 LDI #0x44444444, R13
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449 BNE First_Set_Error
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451 LDI #0x55555555, R13
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453 BNE First_Set_Error
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455 LDI #0x66666666, R13
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457 BNE First_Set_Error
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459 LDI #0x77777777, R13
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461 BNE First_Set_Error
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463 LDI #0x88888888, R13
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465 BNE First_Set_Error
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467 LDI #0x99999999, R13
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469 BNE First_Set_Error
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471 LDI #0xaaaaaaaa, R13
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473 BNE First_Set_Error
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475 LDI #0xbbbbbbbb, R13
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477 BNE First_Set_Error
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479 LDI #0xcccccccc, R13
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481 BNE First_Set_Error
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483 LDI #0xdddddddd, R13
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485 BNE First_Set_Error
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487 BRA First_Start_Next_Loop
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491 ; Latch that an error has occurred.
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492 LDI #_ulRegTestError, R0
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493 LDI #0x00000001, R1
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497 First_Start_Next_Loop:
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503 /*-----------------------------------------------------------*/
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505 static void vSecondRegisterTestTask( void *pvParameters )
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507 extern volatile unsigned portLONG ulCriticalNesting;
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509 /* Fills the registers with known values (different to the values
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510 used in vFirstRegisterTestTask()), then checks that the registers still
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511 all contain the expected value. This is done to test the context save
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512 and restore mechanism as this task is swapped onto and off of the CPU. */
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517 ;Load known values into each register.
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518 LDI #0x11111111, R1
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519 LDI #0x22222222, R2
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521 LDI #0x33333333, R3
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522 LDI #0x44444444, R4
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523 LDI #0x55555555, R5
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524 LDI #0x66666666, R6
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525 LDI #0x77777777, R7
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526 LDI #0x88888888, R8
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527 LDI #0x99999999, R9
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529 LDI #0xaaaaaaaa, R10
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530 LDI #0xbbbbbbbb, R11
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531 LDI #0xcccccccc, R12
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532 LDI #0xdddddddd, R0
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534 ;Check each register still contains the expected value.
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535 LDI #0x11111111, R13
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537 BNE Second_Set_Error
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539 LDI #0x22222222, R13
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541 BNE Second_Set_Error
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543 LDI #0x33333333, R13
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545 BNE Second_Set_Error
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547 LDI #0x44444444, R13
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549 BNE Second_Set_Error
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551 LDI #0x55555555, R13
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553 BNE Second_Set_Error
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557 LDI #0x66666666, R13
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559 BNE Second_Set_Error
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561 LDI #0x77777777, R13
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563 BNE Second_Set_Error
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565 LDI #0x88888888, R13
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567 BNE Second_Set_Error
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569 LDI #0x99999999, R13
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571 BNE Second_Set_Error
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575 LDI #0xaaaaaaaa, R13
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577 BNE Second_Set_Error
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579 LDI #0xbbbbbbbb, R13
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581 BNE Second_Set_Error
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583 LDI #0xcccccccc, R13
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585 BNE Second_Set_Error
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587 LDI #0xdddddddd, R13
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589 BNE Second_Set_Error
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591 BRA Second_Start_Next_Loop
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595 ; Latch that an error has occurred.
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596 LDI #_ulRegTestError, R0
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597 LDI #0x00000001, R1
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601 Second_Start_Next_Loop:
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607 /*-----------------------------------------------------------*/
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