2 FreeRTOS V8.2.0rc1 - Copyright (C) 2014 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 >>! NOTE: The modification to the GPL is included to allow you to !<<
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14 >>! distribute a combined work that includes FreeRTOS without being !<<
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15 >>! obliged to provide the source code for proprietary components !<<
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16 >>! outside of the FreeRTOS kernel. !<<
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18 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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19 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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20 FOR A PARTICULAR PURPOSE. Full license text is available on the following
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21 link: http://www.freertos.org/a00114.html
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25 ***************************************************************************
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27 * Having a problem? Start by reading the FAQ "My application does *
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28 * not run, what could be wrong?". Have you defined configASSERT()? *
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30 * http://www.FreeRTOS.org/FAQHelp.html *
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32 ***************************************************************************
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34 ***************************************************************************
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36 * FreeRTOS provides completely free yet professionally developed, *
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37 * robust, strictly quality controlled, supported, and cross *
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38 * platform software that is more than just the market leader, it *
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39 * is the industry's de facto standard. *
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41 * Help yourself get started quickly while simultaneously helping *
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42 * to support the FreeRTOS project by purchasing a FreeRTOS *
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43 * tutorial book, reference manual, or both: *
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44 * http://www.FreeRTOS.org/Documentation *
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46 ***************************************************************************
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48 ***************************************************************************
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50 * Investing in training allows your team to be as productive as *
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51 * possible as early as possible, lowering your overall development *
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52 * cost, and enabling you to bring a more robust product to market *
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53 * earlier than would otherwise be possible. Richard Barry is both *
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54 * the architect and key author of FreeRTOS, and so also the world's *
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55 * leading authority on what is the world's most popular real time *
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56 * kernel for deeply embedded MCU designs. Obtaining your training *
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57 * from Richard ensures your team will gain directly from his in-depth *
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58 * product knowledge and years of usage experience. Contact Real Time *
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59 * Engineers Ltd to enquire about the FreeRTOS Masterclass, presented *
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60 * by Richard Barry: http://www.FreeRTOS.org/contact
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62 ***************************************************************************
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64 ***************************************************************************
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66 * You are receiving this top quality software for free. Please play *
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67 * fair and reciprocate by reporting any suspected issues and *
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68 * participating in the community forum: *
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69 * http://www.FreeRTOS.org/support *
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73 ***************************************************************************
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75 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
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76 license and Real Time Engineers Ltd. contact details.
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78 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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79 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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80 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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82 http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
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83 Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
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85 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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86 Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
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87 licenses offer ticketed support, indemnification and commercial middleware.
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89 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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90 engineered and independently SIL3 certified version for use in safety and
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91 mission critical applications that require provable dependability.
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96 /* Scheduler includes. */
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97 #include "FreeRTOS.h"
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101 * The register test task as described in the comments at the top of main-full.c.
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103 void vRegisterTest1( void *pvParameters );
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104 void vRegisterTest2( void *pvParameters );
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106 /* Variables that are incremented on each iteration of the reg test tasks -
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107 provided the tasks have not reported any errors. The check timer inspects these
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108 variables to ensure they are still incrementing as expected. If a variable
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109 stops incrementing then it is likely that its associate task has stalled or
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110 detected an error. */
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111 volatile unsigned long ulRegTest1CycleCount = 0UL, ulRegTest2CycleCount = 0UL;
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113 /*-----------------------------------------------------------*/
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115 void vRegisterTest1( void *pvParameters )
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117 /* This task uses an infinite loop that is implemented in the assembly
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120 First fill the relevant registers with known values. */
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121 asm volatile ( " addi r3, r0, 3 \n\t" \
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122 " addi r4, r0, 4 \n\t" \
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123 " addi r6, r0, 6 \n\t" \
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124 " addi r7, r0, 7 \n\t" \
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125 " addi r8, r0, 8 \n\t" \
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126 " addi r9, r0, 9 \n\t" \
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127 " addi r10, r0, 10 \n\t" \
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128 " addi r11, r0, 11 \n\t" \
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129 " addi r12, r0, 12 \n\t" \
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130 " addi r16, r0, 16 \n\t" \
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131 " addi r19, r0, 19 \n\t" \
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132 " addi r20, r0, 20 \n\t" \
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133 " addi r21, r0, 21 \n\t" \
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134 " addi r22, r0, 22 \n\t" \
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135 " addi r23, r0, 23 \n\t" \
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136 " addi r24, r0, 24 \n\t" \
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137 " addi r25, r0, 25 \n\t" \
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138 " addi r26, r0, 26 \n\t" \
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139 " addi r27, r0, 27 \n\t" \
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140 " addi r28, r0, 28 \n\t" \
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141 " addi r29, r0, 29 \n\t" \
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142 " addi r30, r0, 30 \n\t" \
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143 " addi r31, r0, 31 \n\t"
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146 /* Now test the register values to ensure they contain the same value that
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147 was written to them above. This task will get preempted frequently so
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148 other tasks are likely to have executed since the register values were
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149 written. If any register contains an unexpected value then the task will
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150 branch to Error_Loop_1, which in turn prevents it from incrementing its
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151 loop counter, enabling the check timer to determine that all is not as it
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154 asm volatile ( "Loop_Start_1: \n\t" \
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155 " xori r18, r3, 3 \n\t" \
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156 " bnei r18, Error_Loop_1 \n\t" \
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157 " xori r18, r4, 4 \n\t" \
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158 " bnei r18, Error_Loop_1 \n\t" \
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159 " xori r18, r6, 6 \n\t" \
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160 " bnei r18, Error_Loop_1 \n\t" \
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161 " xori r18, r7, 7 \n\t" \
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162 " bnei r18, Error_Loop_1 \n\t" \
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163 " xori r18, r8, 8 \n\t" \
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164 " bnei r18, Error_Loop_1 \n\t" \
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165 " xori r18, r9, 9 \n\t" \
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166 " bnei r18, Error_Loop_1 \n\t" \
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167 " xori r18, r10, 10 \n\t" \
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168 " bnei r18, Error_Loop_1 \n\t" \
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169 " xori r18, r11, 11 \n\t" \
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170 " bnei r18, Error_Loop_1 \n\t" \
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171 " xori r18, r12, 12 \n\t" \
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172 " bnei r18, Error_Loop_1 \n\t" \
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173 " xori r18, r16, 16 \n\t" \
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174 " bnei r18, Error_Loop_1 \n\t" \
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175 " xori r18, r19, 19 \n\t" \
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176 " bnei r18, Error_Loop_1 \n\t" \
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177 " xori r18, r20, 20 \n\t" \
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178 " bnei r18, Error_Loop_1 \n\t" \
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179 " xori r18, r21, 21 \n\t" \
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180 " bnei r18, Error_Loop_1 \n\t" \
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181 " xori r18, r22, 22 \n\t" \
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182 " bnei r18, Error_Loop_1 \n\t" \
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183 " xori r18, r23, 23 \n\t" \
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184 " bnei r18, Error_Loop_1 \n\t" \
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185 " xori r18, r24, 24 \n\t" \
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186 " bnei r18, Error_Loop_1 \n\t" \
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187 " xori r18, r25, 25 \n\t" \
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188 " bnei r18, Error_Loop_1 \n\t" \
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189 " xori r18, r26, 26 \n\t" \
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190 " bnei r18, Error_Loop_1 \n\t" \
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191 " xori r18, r27, 27 \n\t" \
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192 " bnei r18, Error_Loop_1 \n\t" \
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193 " xori r18, r28, 28 \n\t" \
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194 " bnei r18, Error_Loop_1 \n\t" \
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195 " xori r18, r29, 29 \n\t" \
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196 " bnei r18, Error_Loop_1 \n\t" \
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197 " xori r18, r30, 30 \n\t" \
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198 " bnei r18, Error_Loop_1 \n\t" \
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199 " xori r18, r31, 31 \n\t" \
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200 " bnei r18, Error_Loop_1 \n\t"
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203 /* If this task has not branched to the error loop, then everything is ok,
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204 and the check variable can be incremented to indicate that this task
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205 is still running. Then, brach back to the top to check the register
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207 asm volatile ( " lwi r18, r0, ulRegTest1CycleCount \n\t" \
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208 " addik r18, r18, 1 \n\t" \
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209 " swi r18, r0, ulRegTest1CycleCount \n\t" \
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211 " bri Loop_Start_1 "
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214 /* The test function will branch here if it discovers an error. This part
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215 of the code just sits in a NULL loop, which prevents the check variable
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216 incrementing any further to allow the check timer to recognize that this
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217 test has failed. */
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218 asm volatile ( "Error_Loop_1: \n\t" \
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223 ( void ) pvParameters;
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225 /*-----------------------------------------------------------*/
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227 void vRegisterTest2( void *pvParameters )
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229 /* This task uses an infinite loop that is implemented in the assembly
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232 First fill the registers with known values. */
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233 asm volatile ( " addi r16, r0, 1016 \n\t" \
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234 " addi r19, r0, 1019 \n\t" \
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235 " addi r20, r0, 1020 \n\t" \
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236 " addi r21, r0, 1021 \n\t" \
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237 " addi r22, r0, 1022 \n\t" \
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238 " addi r23, r0, 1023 \n\t" \
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239 " addi r24, r0, 1024 \n\t" \
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240 " addi r25, r0, 1025 \n\t" \
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241 " addi r26, r0, 1026 \n\t" \
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242 " addi r27, r0, 1027 \n\t" \
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243 " addi r28, r0, 1028 \n\t" \
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244 " addi r29, r0, 1029 \n\t" \
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245 " addi r30, r0, 1030 \n\t" \
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246 " addi r31, r0, 1031 \n\t" \
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251 /* Unlike vRegisterTest1, vRegisterTest2 performs a yield. This increases
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252 the test coverage, but does mean volatile registers need re-loading with
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253 their exepcted values. */
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256 /* taskYIELD() could have changed temporaries - set them back to those
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257 expected by the reg test task. */
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258 asm volatile ( " addi r3, r0, 103 \n\t" \
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259 " addi r4, r0, 104 \n\t" \
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260 " addi r6, r0, 106 \n\t" \
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261 " addi r7, r0, 107 \n\t" \
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262 " addi r8, r0, 108 \n\t" \
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263 " addi r9, r0, 109 \n\t" \
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264 " addi r10, r0, 1010 \n\t" \
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265 " addi r11, r0, 1011 \n\t" \
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266 " addi r12, r0, 1012 \n\t" \
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270 /* Now test the register values to ensure they contain the same value that
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271 was written to them above. This task will get preempted frequently so
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272 other tasks are likely to have executed since the register values were
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274 asm volatile ( " xori r18, r3, 103 \n\t" \
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275 " bnei r18, Error_Loop_2 \n\t" \
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276 " xori r18, r4, 104 \n\t" \
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277 " bnei r18, Error_Loop_2 \n\t" \
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278 " xori r18, r6, 106 \n\t" \
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279 " bnei r18, Error_Loop_2 \n\t" \
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280 " xori r18, r7, 107 \n\t" \
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281 " bnei r18, Error_Loop_2 \n\t" \
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282 " xori r18, r8, 108 \n\t" \
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283 " bnei r18, Error_Loop_2 \n\t" \
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284 " xori r18, r9, 109 \n\t" \
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285 " bnei r18, Error_Loop_2 \n\t" \
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286 " xori r18, r10, 1010 \n\t" \
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287 " bnei r18, Error_Loop_2 \n\t" \
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288 " xori r18, r11, 1011 \n\t" \
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289 " bnei r18, Error_Loop_2 \n\t" \
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290 " xori r18, r12, 1012 \n\t" \
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291 " bnei r18, Error_Loop_2 \n\t" \
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292 " xori r18, r16, 1016 \n\t" \
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293 " bnei r18, Error_Loop_2 \n\t" \
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294 " xori r18, r19, 1019 \n\t" \
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295 " bnei r18, Error_Loop_2 \n\t" \
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296 " xori r18, r20, 1020 \n\t" \
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297 " bnei r18, Error_Loop_2 \n\t" \
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298 " xori r18, r21, 1021 \n\t" \
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299 " bnei r18, Error_Loop_2 \n\t" \
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300 " xori r18, r22, 1022 \n\t" \
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301 " bnei r18, Error_Loop_2 \n\t" \
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302 " xori r18, r23, 1023 \n\t" \
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303 " bnei r18, Error_Loop_2 \n\t" \
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304 " xori r18, r24, 1024 \n\t" \
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305 " bnei r18, Error_Loop_2 \n\t" \
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306 " xori r18, r25, 1025 \n\t" \
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307 " bnei r18, Error_Loop_2 \n\t" \
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308 " xori r18, r26, 1026 \n\t" \
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309 " bnei r18, Error_Loop_2 \n\t" \
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310 " xori r18, r27, 1027 \n\t" \
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311 " bnei r18, Error_Loop_2 \n\t" \
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312 " xori r18, r28, 1028 \n\t" \
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313 " bnei r18, Error_Loop_2 \n\t" \
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314 " xori r18, r29, 1029 \n\t" \
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315 " bnei r18, Error_Loop_2 \n\t" \
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316 " xori r18, r30, 1030 \n\t" \
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317 " bnei r18, Error_Loop_2 \n\t" \
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318 " xori r18, r31, 1031 \n\t" \
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319 " bnei r18, Error_Loop_2 \n\t"
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322 /* If this task has not branched to the error loop, then everything is ok,
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323 and the check variable should be incremented to indicate that this task
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324 is still running. Then, brach back to the top to check the registers
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326 asm volatile ( " lwi r18, r0, ulRegTest2CycleCount \n\t" \
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327 " addik r18, r18, 1 \n\t" \
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328 " swi r18, r0, ulRegTest2CycleCount \n\t" \
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330 " bri Loop_Start_2 "
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333 /* The test function will branch here if it discovers an error. This part
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334 of the code just sits in a NULL loop, which prevents the check variable
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335 incrementing any further to allow the check timer to recognize that this
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336 test has failed. */
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337 asm volatile ( "Error_Loop_2: \n\t" \
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342 ( void ) pvParameters;
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