2 * FreeRTOS Kernel V10.0.0
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3 * Copyright (C) 2017 Amazon.com, Inc. or its affiliates. All Rights Reserved.
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5 * Permission is hereby granted, free of charge, to any person obtaining a copy of
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6 * this software and associated documentation files (the "Software"), to deal in
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7 * the Software without restriction, including without limitation the rights to
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8 * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
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9 * the Software, and to permit persons to whom the Software is furnished to do so,
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10 * subject to the following conditions:
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12 * The above copyright notice and this permission notice shall be included in all
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13 * copies or substantial portions of the Software. If you wish to use our Amazon
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14 * FreeRTOS name, please do so in a fair use way that does not cause confusion.
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16 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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17 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
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18 * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
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19 * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
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20 * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
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21 * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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23 * http://www.FreeRTOS.org
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24 * http://aws.amazon.com/freertos
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26 * 1 tab == 4 spaces!
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30 * This demo application creates seven co-routines and one task (two including
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31 * the idle task). The co-routines execute as part of the idle task hook.
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33 * Five of the created co-routines are the standard 'co-routine flash'
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34 * co-routines contained within the Demo/Common/Minimal/crflash.c file and
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35 * documented on the FreeRTOS.org WEB site.
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37 * The 'LCD Task' rotates a string on the LCD, delaying between each character
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38 * as necessitated by the slow interface, and delaying between each string just
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39 * long enough to enable the text to be read.
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41 * The sixth co-routine controls the transmission of a string to UART 0. The
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42 * co-routine periodically sends the first character of the string to the UART,
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43 * with the UART's TxEnd interrupt being used to transmit the remaining
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44 * characters. The UART's RxEnd interrupt receives the characters and places
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45 * them on a queue to be processed by the seventh and final co-routine. An
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46 * error is latched should an unexpected character be received, or any
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47 * character be received out of sequence.
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49 * A loopback connector is required to ensure that each character transmitted
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50 * on the UART is also received on the same UART. For test purposes the UART
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51 * FIFO's are not utalised in order to maximise the interrupt overhead. Also
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52 * a pseudo random interval is used between the start of each transmission in
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53 * order that the resultant interrupts are more randomly distributed and
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54 * therefore more likely to highlight any problems.
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56 * The flash co-routines control LED's zero to four. LED five is toggled each
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57 * time the string is transmitted on the UART. LED six is toggled each time
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58 * the string is CORRECTLY received on the UART. LED seven is latched on should
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59 * an error be detected in any task or co-routine.
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61 * In addition the idle task makes repetative calls to
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62 * prvSetAndCheckRegisters(). This simply loads the general purpose registers
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63 * with a known value, then checks each register to ensure the held value is
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64 * still correct. As a low priority task this checking routine is likely to
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65 * get repeatedly swapped in and out. A register being found to contain an
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66 * incorrect value is therefore indicative of an error in the task switching
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71 /* Scheduler include files. */
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72 #include "FreeRTOS.h"
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75 #include "croutine.h"
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77 /* Demo application include files. */
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78 #include "partest.h"
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79 #include "crflash.h"
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81 /* Library include files. */
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82 #include "DriverLib.h"
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84 /* The time to delay between writing each character to the LCD. */
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85 #define mainCHAR_WRITE_DELAY ( 2 / portTICK_PERIOD_MS )
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87 /* The time to delay between writing each string to the LCD. */
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88 #define mainSTRING_WRITE_DELAY ( 400 / portTICK_PERIOD_MS )
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90 /* The number of flash co-routines to create. */
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91 #define mainNUM_FLASH_CO_ROUTINES ( 5 )
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93 /* The length of the queue used to pass received characters to the Comms Rx
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95 #define mainRX_QUEUE_LEN ( 5 )
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97 /* The priority of the co-routine used to initiate the transmission of the
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98 string on UART 0. */
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99 #define mainTX_CO_ROUTINE_PRIORITY ( 1 )
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101 /* The priority of the co-routine used to receive characters from the UART. */
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102 #define mainRX_CO_ROUTINE_PRIORITY ( 2 )
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104 /* Only one co-routine is created so its index is not important. */
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105 #define mainTX_CO_ROUTINE_INDEX ( 0 )
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106 #define mainRX_CO_ROUTINE_INDEX ( 0 )
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108 /* The time between transmissions of the string on UART 0. This is pseudo
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109 random in order to generate a bit or randomness to when the interrupts occur.*/
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110 #define mainMIN_TX_DELAY ( 40 / portTICK_PERIOD_MS )
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111 #define mainMAX_TX_DELAY ( ( TickType_t ) 0x7f )
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112 #define mainOFFSET_TIME ( ( TickType_t ) 3 )
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114 /* The time the Comms Rx task should wait to receive a character. This should
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115 be slightly longer than the time between transmissions. If we do not receive
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116 a character after this time then there must be an error in the transmission or
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117 the timing of the transmission. */
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118 #define mainCOMMS_RX_DELAY ( mainMAX_TX_DELAY + 20 )
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120 /* The task priorites. */
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121 #define mainLCD_TASK_PRIORITY ( tskIDLE_PRIORITY )
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122 #define mainCOMMS_RX_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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124 /* The LED's toggled by the various tasks. */
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125 #define mainCOMMS_FAIL_LED ( 7 )
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126 #define mainCOMMS_RX_LED ( 6 )
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127 #define mainCOMMS_TX_LED ( 5 )
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129 /* The baud rate used by the UART comms tasks/co-routine. */
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130 #define mainBAUD_RATE ( 57600 )
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132 /* FIFO setting for the UART. The FIFO is not used to create a better test. */
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133 #define mainFIFO_SET ( 0x10 )
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135 /* The string that is transmitted on the UART contains sequentially the
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136 characters from mainFIRST_TX_CHAR to mainLAST_TX_CHAR. */
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137 #define mainFIRST_TX_CHAR '0'
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138 #define mainLAST_TX_CHAR 'z'
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140 /* Just used to walk through the program memory in order that some random data
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141 can be generated. */
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142 #define mainTOTAL_PROGRAM_MEMORY ( ( unsigned long * ) ( 8 * 1024 ) )
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143 #define mainFIRST_PROGRAM_BYTES ( ( unsigned long * ) 4 )
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145 /* The error routine that is called if the driver library encounters an error. */
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148 __error__(char *pcFilename, unsigned long ulLine)
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153 /*-----------------------------------------------------------*/
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156 * The task that rotates text on the LCD.
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158 static void vLCDTask( void * pvParameters );
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161 * The task that receives the characters from UART 0.
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163 static void vCommsRxCoRoutine( CoRoutineHandle_t xHandle, unsigned portBASE_TYPE uxIndex );
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166 * The co-routine that periodically initiates the transmission of the string on
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169 static void vSerialTxCoRoutine( CoRoutineHandle_t xHandle, unsigned portBASE_TYPE uxIndex );
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172 * Writes a string the the LCD.
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174 static void prvWriteString( const char *pcString );
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177 * Initialisation routine for the UART.
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179 static void vSerialInit( void );
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182 * Thread safe write to the PDC.
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184 static void prvPDCWrite( char cAddress, char cData );
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187 * Function to simply set a known value into the general purpose registers
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188 * then read them back to ensure they remain set correctly. An incorrect value
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189 * being indicative of an error in the task switching mechanism.
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191 void prvSetAndCheckRegisters( void );
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194 * Latch the LED that indicates that an error has occurred.
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196 void vSetErrorLED( void );
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199 * Sets up the PLL and ports used by the demo.
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201 static void prvSetupHardware( void );
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203 /*-----------------------------------------------------------*/
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205 /* Error flag set to pdFAIL if an error is encountered in the tasks/co-routines
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206 defined within this file. */
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207 unsigned portBASE_TYPE uxErrorStatus = pdPASS;
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209 /* The next character to transmit. */
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210 static char cNextChar;
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212 /* The queue used to transmit characters from the interrupt to the Comms Rx
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214 static QueueHandle_t xCommsQueue;
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216 /*-----------------------------------------------------------*/
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220 /* Create the queue used to communicate between the UART ISR and the Comms
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222 xCommsQueue = xQueueCreate( mainRX_QUEUE_LEN, sizeof( char ) );
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224 /* Setup the ports used by the demo and the clock. */
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225 prvSetupHardware();
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227 /* Create the co-routines that flash the LED's. */
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228 vStartFlashCoRoutines( mainNUM_FLASH_CO_ROUTINES );
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230 /* Create the co-routine that initiates the transmission of characters
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232 xCoRoutineCreate( vSerialTxCoRoutine, mainTX_CO_ROUTINE_PRIORITY, mainTX_CO_ROUTINE_INDEX );
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234 /* Create the co-routine that receives characters from the UART. */
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235 xCoRoutineCreate( vCommsRxCoRoutine, mainRX_CO_ROUTINE_PRIORITY, mainRX_CO_ROUTINE_INDEX );
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237 /* Create the LCD task. */
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238 xTaskCreate( vLCDTask, "LCD", configMINIMAL_STACK_SIZE, NULL, mainLCD_TASK_PRIORITY, NULL );
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240 /* Start the scheduler running the tasks and co-routines just created. */
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241 vTaskStartScheduler();
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243 /* Should not get here unless we did not have enough memory to start the
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248 /*-----------------------------------------------------------*/
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250 static void prvSetupHardware( void )
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252 /* Setup the PLL. */
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253 SysCtlClockSet( SYSCTL_SYSDIV_10 | SYSCTL_USE_PLL | SYSCTL_OSC_MAIN | SYSCTL_XTAL_6MHZ );
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255 /* Initialise the hardware used to talk to the LCD, LED's and UART. */
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257 vParTestInitialise();
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260 /*-----------------------------------------------------------*/
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262 void vApplicationIdleHook( void )
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264 /* The co-routines are executed in the idle task using the idle task
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268 /* Schedule the co-routines. */
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269 vCoRoutineSchedule();
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271 /* Run the register check function between each co-routine. */
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272 prvSetAndCheckRegisters();
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275 /*-----------------------------------------------------------*/
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277 static void prvWriteString( const char *pcString )
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279 /* Write pcString to the LED, pausing between each character. */
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280 prvPDCWrite(PDC_LCD_CSR, LCD_CLEAR);
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283 vTaskDelay( mainCHAR_WRITE_DELAY );
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284 prvPDCWrite( PDC_LCD_RAM, *pcString );
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288 /*-----------------------------------------------------------*/
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290 void vLCDTask( void * pvParameters )
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292 unsigned portBASE_TYPE uxIndex;
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293 const unsigned char ucCFGData[] = {
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294 0x30, /* Set data bus to 8-bits. */
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297 0x3C, /* Number of lines/font. */
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298 0x08, /* Display off. */
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299 0x01, /* Display clear. */
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300 0x06, /* Entry mode [cursor dir][shift]. */
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301 0x0C /* Display on [display on][curson on][blinking on]. */
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304 /* The strings that are written to the LCD. */
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305 const char *pcStringsToDisplay[] = {
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309 "www.FreeRTOS.org",
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313 /* Configure the LCD. */
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315 while( uxIndex < sizeof( ucCFGData ) )
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317 prvPDCWrite( PDC_LCD_CSR, ucCFGData[ uxIndex ] );
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319 vTaskDelay( mainCHAR_WRITE_DELAY );
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322 /* Turn the LCD Backlight on. */
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323 prvPDCWrite( PDC_CSR, 0x01 );
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325 /* Clear display. */
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326 vTaskDelay( mainCHAR_WRITE_DELAY );
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327 prvPDCWrite( PDC_LCD_CSR, LCD_CLEAR );
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332 /* Display the string on the LCD. */
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333 prvWriteString( pcStringsToDisplay[ uxIndex ] );
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335 /* Move on to the next string - wrapping if necessary. */
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337 if( *( pcStringsToDisplay[ uxIndex ] ) == 0x00 )
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340 /* Longer pause on the last string to be sent. */
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341 vTaskDelay( mainSTRING_WRITE_DELAY * 2 );
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344 /* Wait until it is time to move onto the next string. */
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345 vTaskDelay( mainSTRING_WRITE_DELAY );
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348 /*-----------------------------------------------------------*/
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350 static void vCommsRxCoRoutine( CoRoutineHandle_t xHandle, unsigned portBASE_TYPE uxIndex )
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352 static char cRxedChar, cExpectedChar = mainFIRST_TX_CHAR;
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353 portBASE_TYPE xResult;
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355 crSTART( xHandle );
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359 /* Wait for a character to be received. */
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360 crQUEUE_RECEIVE( xHandle, xCommsQueue, ( void * ) &cRxedChar, mainCOMMS_RX_DELAY, &xResult );
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362 /* Was the character recived (if any) the expected character. */
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363 if( ( cRxedChar != cExpectedChar ) || ( xResult != pdPASS ) )
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365 /* Got an unexpected character. This can sometimes occur when
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366 reseting the system using the debugger leaving characters already
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367 in the UART regsters. */
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368 uxErrorStatus = pdFAIL;
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370 /* Resync by waiting for the end of the current string. */
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371 while( cRxedChar != mainLAST_TX_CHAR )
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373 crQUEUE_RECEIVE( xHandle, xCommsQueue, ( void * ) &cRxedChar, mainCOMMS_RX_DELAY, &xResult );
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376 /* The next expected character is the start of the string again. */
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377 cExpectedChar = mainFIRST_TX_CHAR;
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381 if( cExpectedChar == mainLAST_TX_CHAR )
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383 /* We have reached the end of the string - we now expect to
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384 receive the first character in the string again. The LED is
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385 toggled to indicate that the entire string was received without
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387 vParTestToggleLED( mainCOMMS_RX_LED );
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388 cExpectedChar = mainFIRST_TX_CHAR;
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392 /* We got the expected character, we now expect to receive the
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393 next character in the string. */
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401 /*-----------------------------------------------------------*/
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403 static void vSerialTxCoRoutine( CoRoutineHandle_t xHandle, unsigned portBASE_TYPE uxIndex )
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405 TickType_t xDelayPeriod;
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406 static unsigned long *pulRandomBytes = mainFIRST_PROGRAM_BYTES;
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408 /* Co-routine MUST start with a call to crSTART. */
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409 crSTART( xHandle );
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413 /* Was the previously transmitted string received correctly? */
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414 if( uxErrorStatus != pdPASS )
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416 /* An error was encountered so set the error LED. */
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420 /* The next character to Tx is the first in the string. */
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421 cNextChar = mainFIRST_TX_CHAR;
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423 UARTIntDisable( UART0_BASE, UART_INT_TX );
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425 /* Send the first character. */
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426 if( !( HWREG( UART0_BASE + UART_O_FR ) & UART_FR_TXFF ) )
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428 HWREG( UART0_BASE + UART_O_DR ) = cNextChar;
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431 /* Move the variable to the char to Tx on so the ISR transmits
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432 the next character in the string once this one has completed. */
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435 UARTIntEnable(UART0_BASE, UART_INT_TX);
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437 /* Toggle the LED to show a new string is being transmitted. */
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438 vParTestToggleLED( mainCOMMS_TX_LED );
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440 /* Delay before we start the string off again. A pseudo-random delay
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441 is used as this will provide a better test. */
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442 xDelayPeriod = xTaskGetTickCount() + ( *pulRandomBytes );
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445 if( pulRandomBytes > mainTOTAL_PROGRAM_MEMORY )
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447 pulRandomBytes = mainFIRST_PROGRAM_BYTES;
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450 /* Make sure we don't wait too long... */
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451 xDelayPeriod &= mainMAX_TX_DELAY;
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453 /* ...but we do want to wait. */
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454 if( xDelayPeriod < mainMIN_TX_DELAY )
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456 xDelayPeriod = mainMIN_TX_DELAY;
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459 /* Block for the random(ish) time. */
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460 crDELAY( xHandle, xDelayPeriod );
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463 /* Co-routine MUST end with a call to crEND. */
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466 /*-----------------------------------------------------------*/
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468 static void vSerialInit( void )
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470 /* Enable the UART. GPIOA has already been initialised. */
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471 SysCtlPeripheralEnable(SYSCTL_PERIPH_UART0);
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473 /* Set GPIO A0 and A1 as peripheral function. They are used to output the
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475 GPIODirModeSet( GPIO_PORTA_BASE, GPIO_PIN_0 | GPIO_PIN_1, GPIO_DIR_MODE_HW );
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477 /* Configure the UART for 8-N-1 operation. */
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478 UARTConfigSet( UART0_BASE, mainBAUD_RATE, UART_CONFIG_WLEN_8 | UART_CONFIG_PAR_NONE | UART_CONFIG_STOP_ONE );
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480 /* We dont want to use the fifo. This is for test purposes to generate
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481 as many interrupts as possible. */
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482 HWREG( UART0_BASE + UART_O_LCR_H ) &= ~mainFIFO_SET;
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484 /* Enable both Rx and Tx interrupts. */
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485 HWREG( UART0_BASE + UART_O_IM ) |= ( UART_INT_TX | UART_INT_RX );
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486 IntEnable( INT_UART0 );
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488 /*-----------------------------------------------------------*/
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490 void vUART_ISR(void)
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492 unsigned long ulStatus;
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494 portBASE_TYPE xTaskWokenByPost = pdFALSE;
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496 /* What caused the interrupt. */
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497 ulStatus = UARTIntStatus( UART0_BASE, pdTRUE );
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499 /* Clear the interrupt. */
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500 UARTIntClear( UART0_BASE, ulStatus );
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502 /* Was an Rx interrpt pending? */
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503 if( ulStatus & UART_INT_RX )
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505 if( ( HWREG(UART0_BASE + UART_O_FR ) & UART_FR_RXFF ) )
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507 /* Get the char from the buffer and post it onto the queue of
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508 Rxed chars. Posting the character should wake the task that is
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509 blocked on the queue waiting for characters. */
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510 cRxedChar = ( char ) HWREG( UART0_BASE + UART_O_DR );
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511 xTaskWokenByPost = crQUEUE_SEND_FROM_ISR( xCommsQueue, &cRxedChar, xTaskWokenByPost );
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515 /* Was a Tx interrupt pending? */
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516 if( ulStatus & UART_INT_TX )
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518 /* Send the next character in the string. We are not using the FIFO. */
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519 if( cNextChar <= mainLAST_TX_CHAR )
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521 if( !( HWREG( UART0_BASE + UART_O_FR ) & UART_FR_TXFF ) )
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523 HWREG( UART0_BASE + UART_O_DR ) = cNextChar;
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529 if( xTaskWokenByPost )
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531 /* We are posting to a co-routine rather than a task so don't bother
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532 causing a task switch. */
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535 /*-----------------------------------------------------------*/
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537 static void prvPDCWrite( char cAddress, char cData )
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541 PDCWrite( cAddress, cData );
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545 /*-----------------------------------------------------------*/
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547 void vSetErrorLED( void )
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549 vParTestSetLED( mainCOMMS_FAIL_LED, pdTRUE );
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551 /*-----------------------------------------------------------*/
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553 void prvSetAndCheckRegisters( void )
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555 /* Fill the general purpose registers with known values. */
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559 " add r0, r11, #1 \n"
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560 " add r1, r11, #2 \n"
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561 " add r2, r11, #3 \n"
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562 " add r3, r11, #4 \n"
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563 " add r4, r11, #5 \n"
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564 " add r5, r11, #6 \n"
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565 " add r6, r11, #7 \n"
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566 " add r7, r11, #8 \n"
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567 " add r8, r11, #9 \n"
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568 " add r9, r11, #10 \n"
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569 " add r10, r11, #11 \n"
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570 " add r12, r11, #12"
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573 /* Check the values are as expected. */
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577 " bne set_error_led \n"
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579 " bne set_error_led \n"
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581 " bne set_error_led \n"
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583 " bne set_error_led \n"
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585 " bne set_error_led \n"
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587 " bne set_error_led \n"
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589 " bne set_error_led \n"
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591 " bne set_error_led \n"
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593 " bne set_error_led \n"
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595 " bne set_error_led \n"
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597 " bne set_error_led \n"
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599 " bne set_error_led \n"
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601 " bne set_error_led \n"
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607 "set_error_led: \n"
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609 " ldr r1, vSetErrorLEDConst\n"
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615 "vSetErrorLEDConst: .word vSetErrorLED"
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618 /*-----------------------------------------------------------*/
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