2 FreeRTOS V8.2.1 - Copyright (C) 2015 Real Time Engineers Ltd.
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5 VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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7 This file is part of the FreeRTOS distribution.
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9 FreeRTOS is free software; you can redistribute it and/or modify it under
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10 the terms of the GNU General Public License (version 2) as published by the
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11 Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
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13 ***************************************************************************
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14 >>! NOTE: The modification to the GPL is included to allow you to !<<
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15 >>! distribute a combined work that includes FreeRTOS without being !<<
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16 >>! obliged to provide the source code for proprietary components !<<
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17 >>! outside of the FreeRTOS kernel. !<<
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18 ***************************************************************************
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20 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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21 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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22 FOR A PARTICULAR PURPOSE. Full license text is available on the following
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23 link: http://www.freertos.org/a00114.html
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25 ***************************************************************************
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27 * FreeRTOS provides completely free yet professionally developed, *
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28 * robust, strictly quality controlled, supported, and cross *
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29 * platform software that is more than just the market leader, it *
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30 * is the industry's de facto standard. *
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32 * Help yourself get started quickly while simultaneously helping *
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33 * to support the FreeRTOS project by purchasing a FreeRTOS *
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34 * tutorial book, reference manual, or both: *
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35 * http://www.FreeRTOS.org/Documentation *
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37 ***************************************************************************
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39 http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
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40 the FAQ page "My application does not run, what could be wrong?". Have you
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41 defined configASSERT()?
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43 http://www.FreeRTOS.org/support - In return for receiving this top quality
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44 embedded software for free we request you assist our global community by
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45 participating in the support forum.
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47 http://www.FreeRTOS.org/training - Investing in training allows your team to
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48 be as productive as possible as early as possible. Now you can receive
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49 FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
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50 Ltd, and the world's leading authority on the world's leading RTOS.
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52 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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53 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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54 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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56 http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
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57 Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
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59 http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
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60 Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
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61 licenses offer ticketed support, indemnification and commercial middleware.
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63 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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64 engineered and independently SIL3 certified version for use in safety and
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65 mission critical applications that require provable dependability.
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70 /* Scheduler includes. */
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71 #include "FreeRTOS.h"
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75 * The register test task as described in the comments at the top of main-full.c.
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77 void vRegisterTest1( void *pvParameters );
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78 void vRegisterTest2( void *pvParameters );
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80 /* Variables that are incremented on each iteration of the reg test tasks -
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81 provided the tasks have not reported any errors. The check timer inspects these
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82 variables to ensure they are still incrementing as expected. If a variable
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83 stops incrementing then it is likely that its associate task has stalled or
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84 detected an error. */
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85 volatile unsigned long ulRegTest1CycleCount = 0UL, ulRegTest2CycleCount = 0UL;
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87 /*-----------------------------------------------------------*/
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89 void vRegisterTest1( void *pvParameters )
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91 /* This task uses an infinite loop that is implemented in the assembly
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94 First fill the relevant registers with known values. */
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95 asm volatile ( " addi r3, r0, 3 \n\t" \
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96 " addi r4, r0, 4 \n\t" \
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97 " addi r6, r0, 6 \n\t" \
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98 " addi r7, r0, 7 \n\t" \
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99 " addi r8, r0, 8 \n\t" \
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100 " addi r9, r0, 9 \n\t" \
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101 " addi r10, r0, 10 \n\t" \
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102 " addi r11, r0, 11 \n\t" \
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103 " addi r12, r0, 12 \n\t" \
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104 " addi r16, r0, 16 \n\t" \
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105 " addi r19, r0, 19 \n\t" \
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106 " addi r20, r0, 20 \n\t" \
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107 " addi r21, r0, 21 \n\t" \
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108 " addi r22, r0, 22 \n\t" \
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109 " addi r23, r0, 23 \n\t" \
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110 " addi r24, r0, 24 \n\t" \
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111 " addi r25, r0, 25 \n\t" \
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112 " addi r26, r0, 26 \n\t" \
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113 " addi r27, r0, 27 \n\t" \
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114 " addi r28, r0, 28 \n\t" \
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115 " addi r29, r0, 29 \n\t" \
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116 " addi r30, r0, 30 \n\t" \
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117 " addi r31, r0, 31 \n\t"
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120 /* Now test the register values to ensure they contain the same value that
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121 was written to them above. This task will get preempted frequently so
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122 other tasks are likely to have executed since the register values were
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123 written. If any register contains an unexpected value then the task will
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124 branch to Error_Loop_1, which in turn prevents it from incrementing its
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125 loop counter, enabling the check timer to determine that all is not as it
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128 asm volatile ( "Loop_Start_1: \n\t" \
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129 " xori r18, r3, 3 \n\t" \
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130 " bnei r18, Error_Loop_1 \n\t" \
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131 " xori r18, r4, 4 \n\t" \
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132 " bnei r18, Error_Loop_1 \n\t" \
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133 " xori r18, r6, 6 \n\t" \
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134 " bnei r18, Error_Loop_1 \n\t" \
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135 " xori r18, r7, 7 \n\t" \
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136 " bnei r18, Error_Loop_1 \n\t" \
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137 " xori r18, r8, 8 \n\t" \
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138 " bnei r18, Error_Loop_1 \n\t" \
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139 " xori r18, r9, 9 \n\t" \
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140 " bnei r18, Error_Loop_1 \n\t" \
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141 " xori r18, r10, 10 \n\t" \
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142 " bnei r18, Error_Loop_1 \n\t" \
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143 " xori r18, r11, 11 \n\t" \
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144 " bnei r18, Error_Loop_1 \n\t" \
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145 " xori r18, r12, 12 \n\t" \
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146 " bnei r18, Error_Loop_1 \n\t" \
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147 " xori r18, r16, 16 \n\t" \
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148 " bnei r18, Error_Loop_1 \n\t" \
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149 " xori r18, r19, 19 \n\t" \
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150 " bnei r18, Error_Loop_1 \n\t" \
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151 " xori r18, r20, 20 \n\t" \
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152 " bnei r18, Error_Loop_1 \n\t" \
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153 " xori r18, r21, 21 \n\t" \
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154 " bnei r18, Error_Loop_1 \n\t" \
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155 " xori r18, r22, 22 \n\t" \
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156 " bnei r18, Error_Loop_1 \n\t" \
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157 " xori r18, r23, 23 \n\t" \
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158 " bnei r18, Error_Loop_1 \n\t" \
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159 " xori r18, r24, 24 \n\t" \
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160 " bnei r18, Error_Loop_1 \n\t" \
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161 " xori r18, r25, 25 \n\t" \
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162 " bnei r18, Error_Loop_1 \n\t" \
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163 " xori r18, r26, 26 \n\t" \
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164 " bnei r18, Error_Loop_1 \n\t" \
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165 " xori r18, r27, 27 \n\t" \
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166 " bnei r18, Error_Loop_1 \n\t" \
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167 " xori r18, r28, 28 \n\t" \
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168 " bnei r18, Error_Loop_1 \n\t" \
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169 " xori r18, r29, 29 \n\t" \
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170 " bnei r18, Error_Loop_1 \n\t" \
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171 " xori r18, r30, 30 \n\t" \
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172 " bnei r18, Error_Loop_1 \n\t" \
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173 " xori r18, r31, 31 \n\t" \
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174 " bnei r18, Error_Loop_1 \n\t"
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177 /* If this task has not branched to the error loop, then everything is ok,
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178 and the check variable can be incremented to indicate that this task
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179 is still running. Then, brach back to the top to check the register
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181 asm volatile ( " lwi r18, r0, ulRegTest1CycleCount \n\t" \
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182 " addik r18, r18, 1 \n\t" \
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183 " swi r18, r0, ulRegTest1CycleCount \n\t" \
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185 " bri Loop_Start_1 "
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188 /* The test function will branch here if it discovers an error. This part
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189 of the code just sits in a NULL loop, which prevents the check variable
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190 incrementing any further to allow the check timer to recognize that this
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191 test has failed. */
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192 asm volatile ( "Error_Loop_1: \n\t" \
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197 ( void ) pvParameters;
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199 /*-----------------------------------------------------------*/
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201 void vRegisterTest2( void *pvParameters )
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203 /* This task uses an infinite loop that is implemented in the assembly
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206 First fill the registers with known values. */
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207 asm volatile ( " addi r16, r0, 1016 \n\t" \
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208 " addi r19, r0, 1019 \n\t" \
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209 " addi r20, r0, 1020 \n\t" \
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210 " addi r21, r0, 1021 \n\t" \
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211 " addi r22, r0, 1022 \n\t" \
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212 " addi r23, r0, 1023 \n\t" \
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213 " addi r24, r0, 1024 \n\t" \
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214 " addi r25, r0, 1025 \n\t" \
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215 " addi r26, r0, 1026 \n\t" \
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216 " addi r27, r0, 1027 \n\t" \
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217 " addi r28, r0, 1028 \n\t" \
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218 " addi r29, r0, 1029 \n\t" \
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219 " addi r30, r0, 1030 \n\t" \
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220 " addi r31, r0, 1031 \n\t" \
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225 /* Unlike vRegisterTest1, vRegisterTest2 performs a yield. This increases
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226 the test coverage, but does mean volatile registers need re-loading with
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227 their exepcted values. */
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230 /* taskYIELD() could have changed temporaries - set them back to those
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231 expected by the reg test task. */
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232 asm volatile ( " addi r3, r0, 103 \n\t" \
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233 " addi r4, r0, 104 \n\t" \
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234 " addi r6, r0, 106 \n\t" \
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235 " addi r7, r0, 107 \n\t" \
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236 " addi r8, r0, 108 \n\t" \
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237 " addi r9, r0, 109 \n\t" \
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238 " addi r10, r0, 1010 \n\t" \
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239 " addi r11, r0, 1011 \n\t" \
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240 " addi r12, r0, 1012 \n\t" \
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244 /* Now test the register values to ensure they contain the same value that
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245 was written to them above. This task will get preempted frequently so
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246 other tasks are likely to have executed since the register values were
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248 asm volatile ( " xori r18, r3, 103 \n\t" \
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249 " bnei r18, Error_Loop_2 \n\t" \
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250 " xori r18, r4, 104 \n\t" \
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251 " bnei r18, Error_Loop_2 \n\t" \
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252 " xori r18, r6, 106 \n\t" \
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253 " bnei r18, Error_Loop_2 \n\t" \
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254 " xori r18, r7, 107 \n\t" \
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255 " bnei r18, Error_Loop_2 \n\t" \
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256 " xori r18, r8, 108 \n\t" \
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257 " bnei r18, Error_Loop_2 \n\t" \
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258 " xori r18, r9, 109 \n\t" \
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259 " bnei r18, Error_Loop_2 \n\t" \
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260 " xori r18, r10, 1010 \n\t" \
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261 " bnei r18, Error_Loop_2 \n\t" \
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262 " xori r18, r11, 1011 \n\t" \
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263 " bnei r18, Error_Loop_2 \n\t" \
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264 " xori r18, r12, 1012 \n\t" \
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265 " bnei r18, Error_Loop_2 \n\t" \
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266 " xori r18, r16, 1016 \n\t" \
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267 " bnei r18, Error_Loop_2 \n\t" \
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268 " xori r18, r19, 1019 \n\t" \
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269 " bnei r18, Error_Loop_2 \n\t" \
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270 " xori r18, r20, 1020 \n\t" \
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271 " bnei r18, Error_Loop_2 \n\t" \
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272 " xori r18, r21, 1021 \n\t" \
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273 " bnei r18, Error_Loop_2 \n\t" \
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274 " xori r18, r22, 1022 \n\t" \
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275 " bnei r18, Error_Loop_2 \n\t" \
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276 " xori r18, r23, 1023 \n\t" \
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277 " bnei r18, Error_Loop_2 \n\t" \
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278 " xori r18, r24, 1024 \n\t" \
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279 " bnei r18, Error_Loop_2 \n\t" \
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280 " xori r18, r25, 1025 \n\t" \
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281 " bnei r18, Error_Loop_2 \n\t" \
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282 " xori r18, r26, 1026 \n\t" \
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283 " bnei r18, Error_Loop_2 \n\t" \
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284 " xori r18, r27, 1027 \n\t" \
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285 " bnei r18, Error_Loop_2 \n\t" \
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286 " xori r18, r28, 1028 \n\t" \
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287 " bnei r18, Error_Loop_2 \n\t" \
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288 " xori r18, r29, 1029 \n\t" \
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289 " bnei r18, Error_Loop_2 \n\t" \
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290 " xori r18, r30, 1030 \n\t" \
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291 " bnei r18, Error_Loop_2 \n\t" \
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292 " xori r18, r31, 1031 \n\t" \
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293 " bnei r18, Error_Loop_2 \n\t"
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296 /* If this task has not branched to the error loop, then everything is ok,
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297 and the check variable should be incremented to indicate that this task
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298 is still running. Then, brach back to the top to check the registers
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300 asm volatile ( " lwi r18, r0, ulRegTest2CycleCount \n\t" \
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301 " addik r18, r18, 1 \n\t" \
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302 " swi r18, r0, ulRegTest2CycleCount \n\t" \
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304 " bri Loop_Start_2 "
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307 /* The test function will branch here if it discovers an error. This part
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308 of the code just sits in a NULL loop, which prevents the check variable
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309 incrementing any further to allow the check timer to recognize that this
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310 test has failed. */
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311 asm volatile ( "Error_Loop_2: \n\t" \
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316 ( void ) pvParameters;
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