2 FreeRTOS.org V4.7.1 - Copyright (C) 2003-2008 Richard Barry.
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4 This file is part of the FreeRTOS.org distribution.
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6 FreeRTOS.org is free software; you can redistribute it and/or modify
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7 it under the terms of the GNU General Public License as published by
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8 the Free Software Foundation; either version 2 of the License, or
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9 (at your option) any later version.
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11 FreeRTOS.org is distributed in the hope that it will be useful,
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12 but WITHOUT ANY WARRANTY; without even the implied warranty of
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13 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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14 GNU General Public License for more details.
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16 You should have received a copy of the GNU General Public License
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17 along with FreeRTOS.org; if not, write to the Free Software
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18 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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20 A special exception to the GPL can be applied should you wish to distribute
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21 a combined work that includes FreeRTOS.org, without being obliged to provide
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22 the source code for any proprietary components. See the licensing section
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23 of http://www.FreeRTOS.org for full details of how and when the exception
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26 ***************************************************************************
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28 Please ensure to read the configuration and relevant port sections of the
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29 online documentation.
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31 +++ http://www.FreeRTOS.org +++
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32 Documentation, latest information, license and contact details.
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34 +++ http://www.SafeRTOS.com +++
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35 A version that is certified for use in safety critical systems.
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37 +++ http://www.OpenRTOS.com +++
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38 Commercial support, development, porting, licensing and training services.
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40 ***************************************************************************
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45 * Creates all the demo application tasks, then starts the scheduler. The WEB
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46 * documentation provides more details of the demo application tasks.
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48 * In addition to the standard demo tasks, the follow demo specific tasks are
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51 * The "Check" task. This only executes every three seconds but has the highest
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52 * priority so is guaranteed to get processor time. Its main function is to
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53 * check that all the other tasks are still operational. Most tasks maintain
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54 * a unique count that is incremented each time the task successfully completes
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55 * its function. Should any error occur within such a task the count is
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56 * permanently halted. The check task inspects the count of each task to ensure
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57 * it has changed since the last time the check task executed. If all the count
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58 * variables have changed all the tasks are still executing error free, and the
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59 * check task toggles the onboard LED. Should any task contain an error at any time
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60 * the LED toggle rate will change from 3 seconds to 500ms.
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62 * The "Register Check" tasks. These tasks fill the CPU registers with known
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63 * values, then check that each register still contains the expected value 0 the
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64 * discovery of an unexpected value being indicative of an error in the RTOS
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65 * context switch mechanism. The register check tasks operate at low priority
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66 * so are switched in and out frequently.
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68 * The "Trace Utility" task. This can be used to obtain trace and debug
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69 * information via UART5.
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73 /* Hardware specific includes. */
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74 #include "mb91467d.h"
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75 #include "vectors.h"
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76 #include "watchdog.h"
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78 /* Scheduler includes. */
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79 #include "FreeRTOS.h"
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82 /* Demo app includes. */
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84 #include "integer.h"
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85 #include "comtest2.h"
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87 #include "semtest.h"
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89 #include "dynamic.h"
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91 #include "GenQTest.h"
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93 #include "BlockTim.h"
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95 #include "taskutility.h"
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96 #include "partest.h"
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98 /* Demo task priorities. */
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99 #define mainWATCHDOG_TASK_PRIORITY ( tskIDLE_PRIORITY + 5 )
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100 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 4 )
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101 #define mainUTILITY_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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102 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 3 )
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103 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
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104 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
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105 #define mainQUEUE_BLOCK_PRIORITY ( tskIDLE_PRIORITY + 2 )
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106 #define mainDEATH_PRIORITY ( tskIDLE_PRIORITY + 1 )
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107 #define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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108 #define mainGENERIC_QUEUE_PRIORITY ( tskIDLE_PRIORITY )
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110 /* Baud rate used by the COM test tasks. */
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111 #define mainCOM_TEST_BAUD_RATE ( ( unsigned portLONG ) 19200 )
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113 /* The frequency at which the 'Check' tasks executes. See the comments at the
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114 top of the page. When the system is operating error free the 'Check' task
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115 toggles an LED every three seconds. If an error is discovered in any task the
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116 rate is increased to 500 milliseconds. [in this case the '*' characters on the
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117 LCD represent LEDs]*/
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118 #define mainNO_ERROR_CHECK_DELAY ( ( portTickType ) 3000 / portTICK_RATE_MS )
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119 #define mainERROR_CHECK_DELAY ( ( portTickType ) 500 / portTICK_RATE_MS )
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121 /* The total number of LEDs available. */
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122 #define mainNO_CO_ROUTINE_LEDs ( 8 )
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124 /* The first LED used by the comtest tasks. */
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125 #define mainCOM_TEST_LED ( 0x05 )
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127 /* The LED used by the check task. */
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128 #define mainCHECK_TEST_LED ( 0x07 )
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130 /* The number of interrupt levels to use. */
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131 #define mainINTERRUPT_LEVELS ( 31 )
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133 /*---------------------------------------------------------------------------*/
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136 * The function that implements the Check task. See the comments at the head
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137 * of the page for implementation details.
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139 static void prvErrorChecks( void *pvParameters );
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142 * Called by the Check task. Returns pdPASS if all the other tasks are found
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143 * to be operating without error - otherwise returns pdFAIL.
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145 static portSHORT prvCheckOtherTasksAreStillRunning( void );
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148 * Setup the microcontroller as used by this demo.
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150 static void prvSetupHardware( void );
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153 * Tasks that test the context switch mechanism by filling the CPU registers
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154 * with known values then checking that each register contains the value
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155 * expected. Each of the two tasks use different values, and as low priority
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156 * tasks, get swapped in and out regularly.
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158 static void vFirstRegisterTestTask( void *pvParameters );
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159 static void vSecondRegisterTestTask( void *pvParameters );
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161 /*---------------------------------------------------------------------------*/
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163 /* The variable that is set to true should an error be found in one of the
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164 register test tasks. */
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165 unsigned portLONG ulRegTestError = pdFALSE;
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167 /* Variables used to ensure the register check tasks are still executing. */
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168 static volatile unsigned portLONG ulRegTest1Counter = 0UL, ulRegTest2Counter = 0UL;
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170 /*---------------------------------------------------------------------------*/
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172 /* Start all the demo application tasks, then start the scheduler. */
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175 /* Initialise the hardware ready for the demo. */
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176 prvSetupHardware();
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178 /* Start the standard demo application tasks. */
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179 vStartLEDFlashTasks( mainLED_TASK_PRIORITY );
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180 vStartIntegerMathTasks( tskIDLE_PRIORITY );
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181 vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED - 1 );
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182 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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183 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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184 vStartBlockingQueueTasks ( mainQUEUE_BLOCK_PRIORITY );
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185 vStartDynamicPriorityTasks();
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186 vStartMathTasks( tskIDLE_PRIORITY );
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187 vStartGenericQueueTasks( mainGENERIC_QUEUE_PRIORITY );
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188 vStartQueuePeekTasks();
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189 vCreateBlockTimeTasks();
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191 /* Start the 'Check' task which is defined in this file. */
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192 xTaskCreate( prvErrorChecks, ( signed portCHAR * ) "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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194 /* Start the 'Register Test' tasks as described at the top of this file. */
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195 xTaskCreate( vFirstRegisterTestTask, ( signed portCHAR * ) "Reg1", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
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196 xTaskCreate( vSecondRegisterTestTask, ( signed portCHAR * ) "Reg2", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
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198 /* Start the task that write trace information to the UART. */
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199 vUtilityStartTraceTask( mainUTILITY_TASK_PRIORITY );
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201 /* If we are going to service the watchdog from within a task, then create
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203 #if WATCHDOG == WTC_IN_TASK
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204 vStartWatchdogTask( mainWATCHDOG_TASK_PRIORITY );
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207 /* The suicide tasks must be started last as they record the number of other
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208 tasks that exist within the system. The value is then used to ensure at run
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209 time the number of tasks that exists is within expected bounds. */
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210 vCreateSuicidalTasks( mainDEATH_PRIORITY );
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212 /* Now start the scheduler. Following this call the created tasks should
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214 vTaskStartScheduler( );
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216 /* vTaskStartScheduler() will only return if an error occurs while the
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217 idle task is being created. */
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220 /*-----------------------------------------------------------*/
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222 static void prvErrorChecks( void *pvParameters )
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224 portTickType xDelayPeriod = mainNO_ERROR_CHECK_DELAY, xLastExecutionTime;
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226 /* Initialise xLastExecutionTime so the first call to vTaskDelayUntil()
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227 works correctly. */
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228 xLastExecutionTime = xTaskGetTickCount();
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230 /* Cycle for ever, delaying then checking all the other tasks are still
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231 operating without error. */
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234 /* Wait until it is time to check again. The time we wait here depends
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235 on whether an error has been detected or not. When an error is
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236 detected the time is shortened resulting in a faster LED flash rate. */
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237 /* Perform this check every mainCHECK_DELAY milliseconds. */
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238 vTaskDelayUntil( &xLastExecutionTime, xDelayPeriod );
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240 /* See if the other tasks are all ok. */
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241 if( prvCheckOtherTasksAreStillRunning() != pdPASS )
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243 /* An error occurred in one of the tasks so shorten the delay
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244 period - which has the effect of increasing the frequency of the
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246 xDelayPeriod = mainERROR_CHECK_DELAY;
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250 vParTestToggleLED( mainCHECK_TEST_LED );
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253 /*-----------------------------------------------------------*/
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255 static portSHORT prvCheckOtherTasksAreStillRunning( void )
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257 portBASE_TYPE lReturn = pdPASS;
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258 static unsigned portLONG ulLastRegTest1Counter = 0UL, ulLastRegTest2Counter = 0UL;
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260 /* The demo tasks maintain a count that increments every cycle of the task
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261 provided that the task has never encountered an error. This function
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262 checks the counts maintained by the tasks to ensure they are still being
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263 incremented. A count remaining at the same value between calls therefore
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264 indicates that an error has been detected. */
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266 if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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271 if( xArePollingQueuesStillRunning() != pdTRUE )
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276 if( xAreComTestTasksStillRunning() != pdTRUE )
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281 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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286 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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291 if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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296 if( xAreMathsTaskStillRunning() != pdTRUE )
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301 if( xIsCreateTaskStillRunning() != pdTRUE )
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306 if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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311 if ( xAreGenericQueueTasksStillRunning() != pdTRUE )
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316 if ( xAreQueuePeekTasksStillRunning() != pdTRUE )
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321 /* Have the register test tasks found any errors? */
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322 if( ulRegTestError != pdFALSE )
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327 /* Are the register test tasks still running? */
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328 if( ulLastRegTest1Counter == ulRegTest1Counter )
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333 if( ulLastRegTest2Counter == ulRegTest2Counter )
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338 /* Record the current values of the register check cycle counters so we
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339 can ensure they are still running the next time this function is called. */
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340 ulLastRegTest1Counter = ulRegTest1Counter;
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341 ulLastRegTest2Counter = ulRegTest2Counter;
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345 /*-----------------------------------------------------------*/
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347 static void prvSetupHardware( void )
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349 /* Allow all interrupt levels. */
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350 __set_il( mainINTERRUPT_LEVELS );
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352 /* Initialise interrupts. */
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355 /* Initialise the ports used by the LEDs. */
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356 vParTestInitialise();
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358 /* If we are going to use the watchdog, then initialise it now. */
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359 #if WATCHDOG != WTC_NONE
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363 /*-----------------------------------------------------------*/
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365 /* Idle hook function. */
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366 #if configUSE_IDLE_HOOK == 1
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367 void vApplicationIdleHook( void )
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369 /* Are we using the idle task to kick the watchdog? See watchdog.h
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370 for watchdog kicking options. Note this is for demonstration only
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371 and is not a suggested method of servicing the watchdog in a real
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373 #if WATCHDOG == WTC_IN_IDLE
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378 #if WATCHDOG == WTC_IN_IDLE
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379 #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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383 /*-----------------------------------------------------------*/
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385 /* Tick hook function. */
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386 #if configUSE_TICK_HOOK == 1
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387 void vApplicationTickHook( void )
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389 /* Are we using the tick to kick the watchdog? See watchdog.h
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390 for watchdog kicking options. Note this is for demonstration
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391 only and is not a suggested method of servicing the watchdog in
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392 a real application. */
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393 #if WATCHDOG == WTC_IN_TICK
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398 #if WATCHDOG == WTC_IN_TICK
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399 #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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402 /*-----------------------------------------------------------*/
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404 static void vFirstRegisterTestTask( void *pvParameters )
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406 extern volatile unsigned portLONG ulCriticalNesting;
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408 /* Fills the registers with known values (different to the values
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409 used in vSecondRegisterTestTask()), then checks that the registers still
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410 all contain the expected value. This is done to test the context save
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411 and restore mechanism as this task is swapped onto and off of the CPU.
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413 The critical nesting depth is also saved as part of the context so also
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414 check this maintains an expected value. */
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415 ulCriticalNesting = 0x12345678;
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420 ;Load known values into each register.
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421 LDI #0x11111111, R0
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422 LDI #0x22222222, R1
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423 LDI #0x33333333, R2
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424 LDI #0x44444444, R3
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425 LDI #0x55555555, R4
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426 LDI #0x66666666, R5
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427 LDI #0x77777777, R6
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428 LDI #0x88888888, R7
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429 LDI #0x99999999, R8
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430 LDI #0xaaaaaaaa, R9
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431 LDI #0xbbbbbbbb, R10
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432 LDI #0xcccccccc, R11
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433 LDI #0xdddddddd, R12
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435 ;Check each register still contains the expected value.
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436 LDI #0x11111111, R13
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438 BNE First_Set_Error
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440 LDI #0x22222222, R13
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442 BNE First_Set_Error
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444 LDI #0x33333333, R13
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446 BNE First_Set_Error
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448 LDI #0x44444444, R13
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450 BNE First_Set_Error
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452 LDI #0x55555555, R13
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454 BNE First_Set_Error
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456 LDI #0x66666666, R13
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458 BNE First_Set_Error
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460 LDI #0x77777777, R13
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462 BNE First_Set_Error
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464 LDI #0x88888888, R13
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466 BNE First_Set_Error
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468 LDI #0x99999999, R13
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470 BNE First_Set_Error
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472 LDI #0xaaaaaaaa, R13
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474 BNE First_Set_Error
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476 LDI #0xbbbbbbbb, R13
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478 BNE First_Set_Error
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480 LDI #0xcccccccc, R13
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482 BNE First_Set_Error
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484 LDI #0xdddddddd, R13
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486 BNE First_Set_Error
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488 BRA First_Start_Next_Loop
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492 ; Latch that an error has occurred.
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493 LDI #_ulRegTestError, R0
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494 LDI #0x00000001, R1
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498 First_Start_Next_Loop:
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503 ulRegTest1Counter++;
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505 if( ulCriticalNesting != 0x12345678 )
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507 ulRegTestError = pdTRUE;
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511 /*-----------------------------------------------------------*/
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513 static void vSecondRegisterTestTask( void *pvParameters )
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515 extern volatile unsigned portLONG ulCriticalNesting;
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517 /* Fills the registers with known values (different to the values
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518 used in vFirstRegisterTestTask()), then checks that the registers still
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519 all contain the expected value. This is done to test the context save
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520 and restore mechanism as this task is swapped onto and off of the CPU.
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522 The critical nesting depth is also saved as part of the context so also
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523 check this maintains an expected value. */
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524 ulCriticalNesting = 0x87654321;
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529 ;Load known values into each register.
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530 LDI #0x11111111, R1
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531 LDI #0x22222222, R2
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533 LDI #0x33333333, R3
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534 LDI #0x44444444, R4
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535 LDI #0x55555555, R5
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536 LDI #0x66666666, R6
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537 LDI #0x77777777, R7
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538 LDI #0x88888888, R8
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539 LDI #0x99999999, R9
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541 LDI #0xaaaaaaaa, R10
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542 LDI #0xbbbbbbbb, R11
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543 LDI #0xcccccccc, R12
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544 LDI #0xdddddddd, R0
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546 ;Check each register still contains the expected value.
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547 LDI #0x11111111, R13
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549 BNE Second_Set_Error
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551 LDI #0x22222222, R13
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553 BNE Second_Set_Error
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555 LDI #0x33333333, R13
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557 BNE Second_Set_Error
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559 LDI #0x44444444, R13
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561 BNE Second_Set_Error
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563 LDI #0x55555555, R13
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565 BNE Second_Set_Error
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569 LDI #0x66666666, R13
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571 BNE Second_Set_Error
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573 LDI #0x77777777, R13
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575 BNE Second_Set_Error
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577 LDI #0x88888888, R13
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579 BNE Second_Set_Error
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581 LDI #0x99999999, R13
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583 BNE Second_Set_Error
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587 LDI #0xaaaaaaaa, R13
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589 BNE Second_Set_Error
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591 LDI #0xbbbbbbbb, R13
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593 BNE Second_Set_Error
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595 LDI #0xcccccccc, R13
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597 BNE Second_Set_Error
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599 LDI #0xdddddddd, R13
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601 BNE Second_Set_Error
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603 BRA Second_Start_Next_Loop
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607 ; Latch that an error has occurred.
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608 LDI #_ulRegTestError, R0
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609 LDI #0x00000001, R1
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613 Second_Start_Next_Loop:
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618 ulRegTest2Counter++;
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620 if( ulCriticalNesting != 0x87654321 )
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622 ulRegTestError = pdTRUE;
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626 /*-----------------------------------------------------------*/
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