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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31 * Creates all the demo application tasks, then starts the scheduler. The WEB
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32 * documentation provides more details of the standard demo application tasks.
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33 * In addition to the standard demo tasks, the following tasks and tests are
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34 * defined and/or created within this file:
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36 * "Web server" - Very basic demonstration of the lwIP stack. The WEB server
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37 * simply generates a page that shows the current state of all the tasks within
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38 * the system, including the high water mark of each task stack. The high water
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39 * mark is displayed as the amount of stack that has never been used, so the
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40 * closer the value is to zero the closer the task has come to overflowing its
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41 * stack. The IP address and net mask are set within FreeRTOSConfig.h.
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43 * "Check" task - This only executes every five seconds but has a high priority
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44 * to ensure it gets processor time. Its main function is to check that all the
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45 * standard demo tasks are still operational. While no errors have been
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46 * discovered the check task will toggle an LED every 5 seconds - the toggle
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47 * rate increasing to 500ms being a visual indication that at least one task has
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48 * reported unexpected behaviour.
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50 * "Reg test" tasks - These fill the registers with known values, then check
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51 * that each register still contains its expected value. Each task uses
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52 * different values. The tasks run with very low priority so get preempted very
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53 * frequently. A register containing an unexpected value is indicative of an
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54 * error in the context switching mechanism.
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58 /* Standard includes. */
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61 /* Scheduler includes. */
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62 #include "FreeRTOS.h"
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67 /* Demo app includes. */
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71 #include "partest.h"
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72 #include "semtest.h"
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74 #include "GenQTest.h"
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76 #include "recmutex.h"
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78 /*-----------------------------------------------------------*/
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80 /* The time between cycles of the 'check' functionality - as described at the
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81 top of this file. */
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82 #define mainNO_ERROR_PERIOD ( ( TickType_t ) 5000 / portTICK_PERIOD_MS )
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84 /* The rate at which the LED controlled by the 'check' task will flash should an
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85 error have been detected. */
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86 #define mainERROR_PERIOD ( ( TickType_t ) 500 / portTICK_PERIOD_MS )
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88 /* The LED controlled by the 'check' task. */
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89 #define mainCHECK_LED ( 3 )
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91 /* ComTest constants - there is no free LED for the comtest tasks. */
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92 #define mainCOM_TEST_BAUD_RATE ( ( unsigned long ) 19200 )
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93 #define mainCOM_TEST_LED ( 5 )
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95 /* Task priorities. */
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96 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
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97 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
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98 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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99 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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100 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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101 #define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
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102 #define mainINTEGER_TASK_PRIORITY ( tskIDLE_PRIORITY )
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103 #define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )
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104 #define mainWEB_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
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107 * Configure the hardware for the demo.
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109 static void prvSetupHardware( void );
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112 * Implements the 'check' task functionality as described at the top of this
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115 static void prvCheckTask( void *pvParameters );
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118 * Implement the 'Reg test' functionality as described at the top of this file.
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120 static void vRegTest1Task( void *pvParameters );
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121 static void vRegTest2Task( void *pvParameters );
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123 /*-----------------------------------------------------------*/
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125 /* Counters used to detect errors within the reg test tasks. */
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126 static volatile unsigned long ulRegTest1Counter = 0x11111111, ulRegTest2Counter = 0x22222222;
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128 /*-----------------------------------------------------------*/
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132 extern void vBasicWEBServer( void *pv );
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134 /* Setup the hardware ready for this demo. */
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135 prvSetupHardware();
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136 ( void )sys_thread_new("HTTPD", vBasicWEBServer, NULL, 320, mainWEB_TASK_PRIORITY );
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138 /* Start the standard demo tasks. */
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139 vStartLEDFlashTasks( tskIDLE_PRIORITY );
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140 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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141 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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142 vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
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143 vStartQueuePeekTasks();
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144 vStartRecursiveMutexTasks();
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145 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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147 /* Start the reg test tasks - defined in this file. */
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148 xTaskCreate( vRegTest1Task, "Reg1", configMINIMAL_STACK_SIZE, ( void * ) &ulRegTest1Counter, tskIDLE_PRIORITY, NULL );
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149 xTaskCreate( vRegTest2Task, "Reg2", configMINIMAL_STACK_SIZE, ( void * ) &ulRegTest2Counter, tskIDLE_PRIORITY, NULL );
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151 /* Create the check task. */
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152 xTaskCreate( prvCheckTask, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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154 /* The suicide tasks must be created last as they need to know how many
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155 tasks were running prior to their creation in order to ascertain whether
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156 or not the correct/expected number of tasks are running at any given time. */
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157 vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
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159 /* Start the scheduler. */
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160 vTaskStartScheduler();
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162 /* Will only get here if there was insufficient memory to create the idle
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168 /*-----------------------------------------------------------*/
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170 static void prvCheckTask( void *pvParameters )
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172 unsigned ulTicksToWait = mainNO_ERROR_PERIOD, ulError = 0, ulLastRegTest1Count = 0, ulLastRegTest2Count = 0;
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173 TickType_t xLastExecutionTime;
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175 ( void ) pvParameters;
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177 /* Initialise the variable used to control our iteration rate prior to
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179 xLastExecutionTime = xTaskGetTickCount();
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183 /* Wait until it is time to run the tests again. */
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184 vTaskDelayUntil( &xLastExecutionTime, ulTicksToWait );
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186 /* Has an error been found in any task? */
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187 if( xAreGenericQueueTasksStillRunning() != pdTRUE )
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192 if( xAreQueuePeekTasksStillRunning() != pdTRUE )
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197 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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202 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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207 if( xArePollingQueuesStillRunning() != pdTRUE )
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212 if( xIsCreateTaskStillRunning() != pdTRUE )
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217 if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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219 ulError |= 0x200UL;
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222 if( ulLastRegTest1Count == ulRegTest1Counter )
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224 ulError |= 0x1000UL;
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227 if( ulLastRegTest2Count == ulRegTest2Counter )
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229 ulError |= 0x1000UL;
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232 ulLastRegTest1Count = ulRegTest1Counter;
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233 ulLastRegTest2Count = ulRegTest2Counter;
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235 /* If an error has been found then increase our cycle rate, and in so
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236 going increase the rate at which the check task LED toggles. */
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239 ulTicksToWait = mainERROR_PERIOD;
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242 /* Toggle the LED each iteration. */
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243 vParTestToggleLED( mainCHECK_LED );
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246 /*-----------------------------------------------------------*/
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248 void prvSetupHardware( void )
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250 portDISABLE_INTERRUPTS();
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252 /* Setup the port used to toggle LEDs. */
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253 vParTestInitialise();
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255 /*-----------------------------------------------------------*/
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257 void vApplicationStackOverflowHook( TaskHandle_t *pxTask, signed char *pcTaskName )
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259 /* This will get called if a stack overflow is detected during the context
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260 switch. Set configCHECK_FOR_STACK_OVERFLOWS to 2 to also check for stack
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261 problems within nested interrupts, but only do this for debug purposes as
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262 it will increase the context switch time. */
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265 ( void ) pcTaskName;
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271 /*-----------------------------------------------------------*/
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273 static void vRegTest1Task( void *pvParameters )
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275 /* Sanity check - did we receive the parameter expected? */
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276 if( pvParameters != &ulRegTest1Counter )
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278 /* Change here so the check task can detect that an error occurred. */
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284 /* Set all the registers to known values, then check that each retains its
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285 expected value - as described at the top of this file. If an error is
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286 found then the loop counter will no longer be incremented allowing the check
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287 task to recognise the error. */
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288 asm volatile ( "reg_test_1_start: \n\t"
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289 " moveq #1, d0 \n\t"
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290 " moveq #2, d1 \n\t"
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291 " moveq #3, d2 \n\t"
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292 " moveq #4, d3 \n\t"
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293 " moveq #5, d4 \n\t"
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294 " moveq #6, d5 \n\t"
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295 " moveq #7, d6 \n\t"
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296 " moveq #8, d7 \n\t"
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297 " move #9, a0 \n\t"
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298 " move #10, a1 \n\t"
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299 " move #11, a2 \n\t"
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300 " move #12, a3 \n\t"
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301 " move #13, a4 \n\t"
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302 " move #14, a5 \n\t"
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303 " move #15, a6 \n\t"
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305 " cmpi.l #1, d0 \n\t"
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306 " bne reg_test_1_error \n\t"
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307 " cmpi.l #2, d1 \n\t"
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308 " bne reg_test_1_error \n\t"
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309 " cmpi.l #3, d2 \n\t"
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310 " bne reg_test_1_error \n\t"
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311 " cmpi.l #4, d3 \n\t"
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312 " bne reg_test_1_error \n\t"
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313 " cmpi.l #5, d4 \n\t"
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314 " bne reg_test_1_error \n\t"
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315 " cmpi.l #6, d5 \n\t"
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316 " bne reg_test_1_error \n\t"
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317 " cmpi.l #7, d6 \n\t"
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318 " bne reg_test_1_error \n\t"
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319 " cmpi.l #8, d7 \n\t"
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320 " bne reg_test_1_error \n\t"
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321 " move a0, d0 \n\t"
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322 " cmpi.l #9, d0 \n\t"
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323 " bne reg_test_1_error \n\t"
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324 " move a1, d0 \n\t"
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325 " cmpi.l #10, d0 \n\t"
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326 " bne reg_test_1_error \n\t"
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327 " move a2, d0 \n\t"
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328 " cmpi.l #11, d0 \n\t"
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329 " bne reg_test_1_error \n\t"
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330 " move a3, d0 \n\t"
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331 " cmpi.l #12, d0 \n\t"
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332 " bne reg_test_1_error \n\t"
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333 " move a4, d0 \n\t"
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334 " cmpi.l #13, d0 \n\t"
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335 " bne reg_test_1_error \n\t"
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336 " move a5, d0 \n\t"
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337 " cmpi.l #14, d0 \n\t"
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338 " bne reg_test_1_error \n\t"
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339 " move a6, d0 \n\t"
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340 " cmpi.l #15, d0 \n\t"
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341 " bne reg_test_1_error \n\t"
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342 " move ulRegTest1Counter, d0 \n\t"
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343 " addq #1, d0 \n\t"
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344 " move d0, ulRegTest1Counter \n\t"
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345 " bra reg_test_1_start \n\t"
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346 "reg_test_1_error: \n\t"
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347 " bra reg_test_1_error \n\t"
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350 /*-----------------------------------------------------------*/
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352 static void vRegTest2Task( void *pvParameters )
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354 /* Sanity check - did we receive the parameter expected? */
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355 if( pvParameters != &ulRegTest2Counter )
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357 /* Change here so the check task can detect that an error occurred. */
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363 /* Set all the registers to known values, then check that each retains its
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364 expected value - as described at the top of this file. If an error is
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365 found then the loop counter will no longer be incremented allowing the check
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366 task to recognise the error. */
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367 asm volatile ( "reg_test_2_start: \n\t"
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368 " moveq #10, d0 \n\t"
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369 " moveq #20, d1 \n\t"
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370 " moveq #30, d2 \n\t"
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371 " moveq #40, d3 \n\t"
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372 " moveq #50, d4 \n\t"
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373 " moveq #60, d5 \n\t"
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374 " moveq #70, d6 \n\t"
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375 " moveq #80, d7 \n\t"
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376 " move #90, a0 \n\t"
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377 " move #100, a1 \n\t"
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378 " move #110, a2 \n\t"
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379 " move #120, a3 \n\t"
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380 " move #130, a4 \n\t"
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381 " move #140, a5 \n\t"
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382 " move #150, a6 \n\t"
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384 " cmpi.l #10, d0 \n\t"
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385 " bne reg_test_2_error \n\t"
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386 " cmpi.l #20, d1 \n\t"
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387 " bne reg_test_2_error \n\t"
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388 " cmpi.l #30, d2 \n\t"
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389 " bne reg_test_2_error \n\t"
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390 " cmpi.l #40, d3 \n\t"
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391 " bne reg_test_2_error \n\t"
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392 " cmpi.l #50, d4 \n\t"
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393 " bne reg_test_2_error \n\t"
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394 " cmpi.l #60, d5 \n\t"
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395 " bne reg_test_2_error \n\t"
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396 " cmpi.l #70, d6 \n\t"
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397 " bne reg_test_2_error \n\t"
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398 " cmpi.l #80, d7 \n\t"
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399 " bne reg_test_2_error \n\t"
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400 " move a0, d0 \n\t"
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401 " cmpi.l #90, d0 \n\t"
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402 " bne reg_test_2_error \n\t"
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403 " move a1, d0 \n\t"
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404 " cmpi.l #100, d0 \n\t"
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405 " bne reg_test_2_error \n\t"
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406 " move a2, d0 \n\t"
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407 " cmpi.l #110, d0 \n\t"
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408 " bne reg_test_2_error \n\t"
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409 " move a3, d0 \n\t"
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410 " cmpi.l #120, d0 \n\t"
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411 " bne reg_test_2_error \n\t"
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412 " move a4, d0 \n\t"
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413 " cmpi.l #130, d0 \n\t"
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414 " bne reg_test_2_error \n\t"
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415 " move a5, d0 \n\t"
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416 " cmpi.l #140, d0 \n\t"
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417 " bne reg_test_2_error \n\t"
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418 " move a6, d0 \n\t"
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419 " cmpi.l #150, d0 \n\t"
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420 " bne reg_test_2_error \n\t"
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421 " move ulRegTest1Counter, d0 \n\t"
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422 " addq #1, d0 \n\t"
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423 " move d0, ulRegTest2Counter \n\t"
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424 " bra reg_test_2_start \n\t"
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425 "reg_test_2_error: \n\t"
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426 " bra reg_test_2_error \n\t"
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429 /*-----------------------------------------------------------*/
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projects / freertos / blob