2 FreeRTOS V8.2.3 - 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 /******************************************************************************
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71 * NOTE 1: This project provides two demo applications. A simple blinky
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72 * style project, and a more comprehensive test and demo application. The
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73 * mainCREATE_SIMPLE_BLINKY_DEMO_ONLY setting in main.c is used to
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74 * select between the two. See the notes on using
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75 * mainCREATE_SIMPLE_BLINKY_DEMO_ONLY in main.c. This file implements the
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76 * comprehensive version.
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78 * NOTE 2: This file only contains the source code that is specific to the
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79 * full demo. Generic functions, such FreeRTOS hook functions, and functions
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80 * required to configure the hardware, are defined in main.c.
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82 ******************************************************************************
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84 * main_full() creates a set of demo application tasks and software timers, then
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85 * starts the scheduler. The web documentation provides more details of the
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86 * standard demo application tasks, which provide no particular functionality,
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87 * but do provide a good example of how to use the FreeRTOS API.
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89 * In addition to the standard demo tasks, the following tasks and tests are
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90 * defined and/or created within this file:
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92 * "FreeRTOS+CLI command console" - The command console uses SCI1 for its
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93 * input and output. The baud rate is set to 19200. Type "help" to see a list
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94 * of registered commands. The FreeRTOS+CLI license is different to the
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95 * FreeRTOS license, see http://www.FreeRTOS.org/cli for license and usage
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98 * "Reg test" tasks - These fill both the core and floating point registers with
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99 * known values, then check that each register maintains its expected value for
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100 * the lifetime of the task. Each task uses a different set of values. The reg
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101 * test tasks execute with a very low priority, so get preempted very
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102 * frequently. A register containing an unexpected value is indicative of an
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103 * error in the context switching mechanism.
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105 * "Check" task - The check task period is initially set to three seconds. The
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106 * task checks that all the standard demo tasks are not only still executing,
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107 * but are executing without reporting any errors. If the check task discovers
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108 * that a task has either stalled, or reported an error, then it changes its own
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109 * execution period from the initial three seconds, to just 200ms. The check
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110 * task also toggles an LED on each iteration of its loop. This provides a
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111 * visual indication of the system status: If the LED toggles every three
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112 * seconds, then no issues have been discovered. If the LED toggles every
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113 * 200ms, then an issue has been discovered with at least one task.
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116 /* Standard includes. */
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119 /* Kernel includes. */
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120 #include "FreeRTOS.h"
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122 #include "timers.h"
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123 #include "semphr.h"
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125 /* Standard demo application includes. */
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126 #include "semtest.h"
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127 #include "dynamic.h"
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128 #include "BlockQ.h"
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129 #include "blocktim.h"
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130 #include "countsem.h"
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131 #include "GenQTest.h"
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132 #include "recmutex.h"
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134 #include "partest.h"
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135 #include "comtest2.h"
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136 #include "serial.h"
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137 #include "QueueOverwrite.h"
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138 #include "IntQueue.h"
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139 #include "EventGroupsDemo.h"
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140 #include "TaskNotify.h"
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141 #include "IntSemTest.h"
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143 /* Renesas includes. */
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144 #include <rskrx113def.h>
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145 #include "r_cg_macrodriver.h"
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146 #include "r_cg_userdefine.h"
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148 /* Priorities for the demo application tasks. */
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149 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1UL )
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150 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2UL )
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151 #define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3UL )
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152 #define mainUART_COMMAND_CONSOLE_STACK_SIZE ( configMINIMAL_STACK_SIZE * 3UL )
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153 #define mainCHECK_TASK_PRIORITY ( configMAX_PRIORITIES - 1 )
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154 #define mainQUEUE_OVERWRITE_PRIORITY ( tskIDLE_PRIORITY )
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156 /* The priority used by the UART command console task. */
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157 #define mainUART_COMMAND_CONSOLE_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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159 /* The period after which the check timer will expire, in ms, provided no errors
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160 have been reported by any of the standard demo tasks. ms are converted to the
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161 equivalent in ticks using the portTICK_PERIOD_MS constant. */
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162 #define mainNO_ERROR_CHECK_TASK_PERIOD pdMS_TO_TICKS( 3000UL )
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164 /* The period at which the check timer will expire, in ms, if an error has been
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165 reported in one of the standard demo tasks. ms are converted to the equivalent
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166 in ticks using the portTICK_PERIOD_MS constant. */
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167 #define mainERROR_CHECK_TASK_PERIOD pdMS_TO_TICKS( 200UL )
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169 /* Parameters that are passed into the register check tasks solely for the
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170 purpose of ensuring parameters are passed into tasks correctly. */
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171 #define mainREG_TEST_1_PARAMETER ( ( void * ) 0x12121212UL )
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172 #define mainREG_TEST_2_PARAMETER ( ( void * ) 0x12345678UL )
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174 /* The base period used by the timer test tasks. */
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175 #define mainTIMER_TEST_PERIOD ( 50 )
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177 /*-----------------------------------------------------------*/
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180 * Entry point for the comprehensive demo (as opposed to the simple blinky
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183 void main_full( void );
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186 * The full demo includes some functionality called from the tick hook.
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188 void vFullDemoTickHook( void );
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191 * The check task, as described at the top of this file.
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193 static void prvCheckTask( void *pvParameters );
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196 * Register check tasks, and the tasks used to write over and check the contents
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197 * of the registers, as described at the top of this file. The nature of these
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198 * files necessitates that they are written in assembly, but the entry points
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199 * are kept in the C file for the convenience of checking the task parameter.
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201 static void prvRegTest1Task( void *pvParameters );
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202 static void prvRegTest2Task( void *pvParameters );
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203 static void prvRegTest1Implementation( void );
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204 static void prvRegTest2Implementation( void );
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207 * A high priority task that does nothing other than execute at a pseudo random
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208 * time to ensure the other test tasks don't just execute in a repeating
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211 static void prvPseudoRandomiser( void *pvParameters );
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214 * Register commands that can be used with FreeRTOS+CLI. The commands are
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215 * defined in CLI-Commands.c and File-Related-CLI-Command.c respectively.
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217 extern void vRegisterSampleCLICommands( void );
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220 * The task that manages the FreeRTOS+CLI input and output.
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222 extern void vUARTCommandConsoleStart( uint16_t usStackSize, UBaseType_t uxPriority );
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224 /*-----------------------------------------------------------*/
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226 /* The following two variables are used to communicate the status of the
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227 register check tasks to the check task. If the variables keep incrementing,
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228 then the register check tasks have not discovered any errors. If a variable
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229 stops incrementing, then an error has been found. */
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230 volatile unsigned long ulRegTest1LoopCounter = 0UL, ulRegTest2LoopCounter = 0UL;
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232 /*-----------------------------------------------------------*/
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234 void main_full( void )
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236 /* Start all the other standard demo/test tasks. They have no particular
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237 functionality, but do demonstrate how to use the FreeRTOS API and test the
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239 vStartInterruptQueueTasks();
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240 vStartDynamicPriorityTasks();
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241 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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242 vCreateBlockTimeTasks();
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243 vStartCountingSemaphoreTasks();
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244 vStartGenericQueueTasks( tskIDLE_PRIORITY );
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245 vStartRecursiveMutexTasks();
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246 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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247 vStartQueueOverwriteTask( mainQUEUE_OVERWRITE_PRIORITY );
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248 vStartEventGroupTasks();
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249 vStartTaskNotifyTask();
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250 vStartInterruptSemaphoreTasks();
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252 /* Create the register check tasks, as described at the top of this file */
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253 xTaskCreate( prvRegTest1Task, "RegTst1", configMINIMAL_STACK_SIZE, mainREG_TEST_1_PARAMETER, tskIDLE_PRIORITY, NULL );
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254 xTaskCreate( prvRegTest2Task, "RegTst2", configMINIMAL_STACK_SIZE, mainREG_TEST_2_PARAMETER, tskIDLE_PRIORITY, NULL );
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256 /* Create the task that just adds a little random behaviour. */
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257 xTaskCreate( prvPseudoRandomiser, "Rnd", configMINIMAL_STACK_SIZE, NULL, configMAX_PRIORITIES - 1, NULL );
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259 /* Start the tasks that implements the command console on the UART, as
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260 described above. */
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261 vUARTCommandConsoleStart( mainUART_COMMAND_CONSOLE_STACK_SIZE, mainUART_COMMAND_CONSOLE_TASK_PRIORITY );
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263 /* Register the standard CLI commands. */
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264 vRegisterSampleCLICommands();
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266 /* Create the task that performs the 'check' functionality, as described at
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267 the top of this file. */
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268 xTaskCreate( prvCheckTask, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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270 /* The set of tasks created by the following function call have to be
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271 created last as they keep account of the number of tasks they expect to see
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273 vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
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275 /* Start the scheduler. */
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276 vTaskStartScheduler();
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278 /* If all is well, the scheduler will now be running, and the following
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279 line will never be reached. If the following line does execute, then
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280 there was either insufficient FreeRTOS heap memory available for the idle
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281 and/or timer tasks to be created, or vTaskStartScheduler() was called from
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282 User mode. See the memory management section on the FreeRTOS web site for
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283 more details on the FreeRTOS heap http://www.freertos.org/a00111.html. The
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284 mode from which main() is called is set in the C start up code and must be
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285 a privileged mode (not user mode). */
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288 /*-----------------------------------------------------------*/
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290 static void prvCheckTask( void *pvParameters )
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292 TickType_t xDelayPeriod = mainNO_ERROR_CHECK_TASK_PERIOD;
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293 TickType_t xLastExecutionTime;
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294 static unsigned long ulLastRegTest1Value = 0, ulLastRegTest2Value = 0;
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295 unsigned long ulErrorFound = pdFALSE;
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297 /* Just to stop compiler warnings. */
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298 ( void ) pvParameters;
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300 /* Initialise xLastExecutionTime so the first call to vTaskDelayUntil()
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301 works correctly. */
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302 xLastExecutionTime = xTaskGetTickCount();
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304 /* Cycle for ever, delaying then checking all the other tasks are still
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305 operating without error. The onboard LED is toggled on each iteration.
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306 If an error is detected then the delay period is decreased from
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307 mainNO_ERROR_CHECK_TASK_PERIOD to mainERROR_CHECK_TASK_PERIOD. This has the
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308 effect of increasing the rate at which the onboard LED toggles, and in so
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309 doing gives visual feedback of the system status. */
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312 /* Delay until it is time to execute again. */
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313 vTaskDelayUntil( &xLastExecutionTime, xDelayPeriod );
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315 /* Check all the demo tasks (other than the flash tasks) to ensure
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316 that they are all still running, and that none have detected an error. */
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317 if( xAreIntQueueTasksStillRunning() != pdTRUE )
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319 ulErrorFound |= 1UL << 0UL;
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322 if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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324 ulErrorFound |= 1UL << 2UL;
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327 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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329 ulErrorFound |= 1UL << 3UL;
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332 if ( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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334 ulErrorFound |= 1UL << 4UL;
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337 if ( xAreGenericQueueTasksStillRunning() != pdTRUE )
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339 ulErrorFound |= 1UL << 5UL;
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342 if ( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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344 ulErrorFound |= 1UL << 6UL;
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347 if( xIsCreateTaskStillRunning() != pdTRUE )
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349 ulErrorFound |= 1UL << 7UL;
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352 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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354 ulErrorFound |= 1UL << 8UL;
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357 if( xAreCountingSemaphoreTasksStillRunning() != pdTRUE )
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359 ulErrorFound |= 1UL << 10UL;
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362 if( xIsQueueOverwriteTaskStillRunning() != pdPASS )
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364 ulErrorFound |= 1UL << 11UL;
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367 if( xAreEventGroupTasksStillRunning() != pdPASS )
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369 ulErrorFound |= 1UL << 12UL;
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372 if( xAreTaskNotificationTasksStillRunning() != pdTRUE )
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374 ulErrorFound |= 1UL << 13UL;
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377 if( xAreInterruptSemaphoreTasksStillRunning() != pdTRUE )
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379 ulErrorFound |= 1UL << 14UL;
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382 /* Check that the register test 1 task is still running. */
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383 if( ulLastRegTest1Value == ulRegTest1LoopCounter )
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385 ulErrorFound |= 1UL << 15UL;
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387 ulLastRegTest1Value = ulRegTest1LoopCounter;
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389 /* Check that the register test 2 task is still running. */
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390 if( ulLastRegTest2Value == ulRegTest2LoopCounter )
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392 ulErrorFound |= 1UL << 16UL;
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394 ulLastRegTest2Value = ulRegTest2LoopCounter;
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396 /* Toggle the check LED to give an indication of the system status. If
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397 the LED toggles every mainNO_ERROR_CHECK_TASK_PERIOD milliseconds then
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398 everything is ok. A faster toggle indicates an error. */
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401 if( ulErrorFound != pdFALSE )
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403 /* An error has been detected in one of the tasks - flash the LED
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404 at a higher frequency to give visible feedback that something has
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405 gone wrong (it might just be that the loop back connector required
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406 by the comtest tasks has not been fitted). */
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407 xDelayPeriod = mainERROR_CHECK_TASK_PERIOD;
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411 /*-----------------------------------------------------------*/
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413 static void prvPseudoRandomiser( void *pvParameters )
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415 const uint32_t ulMultiplier = 0x015a4e35UL, ulIncrement = 1UL, ulMinDelay = ( 35 / portTICK_PERIOD_MS );
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416 volatile uint32_t ulNextRand = ( uint32_t ) &pvParameters, ulValue;
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418 /* This task does nothing other than ensure there is a little bit of
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419 disruption in the scheduling pattern of the other tasks. Normally this is
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420 done by generating interrupts at pseudo random times. */
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423 ulNextRand = ( ulMultiplier * ulNextRand ) + ulIncrement;
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424 ulValue = ( ulNextRand >> 16UL ) & 0xffUL;
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426 if( ulValue < ulMinDelay )
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428 ulValue = ulMinDelay;
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431 vTaskDelay( ulValue );
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433 while( ulValue > 0 )
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448 /*-----------------------------------------------------------*/
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450 void vFullDemoTickHook( void )
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452 /* Call the periodic queue overwrite from ISR demo. */
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453 vQueueOverwritePeriodicISRDemo();
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455 /* Call the periodic event group from ISR demo. */
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456 vPeriodicEventGroupsProcessing();
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458 /* Use task notifications from an interrupt. */
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459 xNotifyTaskFromISR();
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461 /* Use mutexes from interrupts. */
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462 vInterruptSemaphorePeriodicTest();
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464 /*-----------------------------------------------------------*/
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466 /* This function is explained in the comments at the top of this file. */
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467 static void prvRegTest1Task( void *pvParameters )
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469 if( pvParameters != mainREG_TEST_1_PARAMETER )
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471 /* The parameter did not contain the expected value. */
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474 /* Stop the tick interrupt so its obvious something has gone wrong. */
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475 taskDISABLE_INTERRUPTS();
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479 /* This is an inline asm function that never returns. */
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480 prvRegTest1Implementation();
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482 /*-----------------------------------------------------------*/
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484 /* This function is explained in the comments at the top of this file. */
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485 static void prvRegTest2Task( void *pvParameters )
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487 if( pvParameters != mainREG_TEST_2_PARAMETER )
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489 /* The parameter did not contain the expected value. */
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492 /* Stop the tick interrupt so its obvious something has gone wrong. */
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493 taskDISABLE_INTERRUPTS();
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497 /* This is an inline asm function that never returns. */
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498 prvRegTest2Implementation();
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500 /*-----------------------------------------------------------*/
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502 /* This function is explained in the comments at the top of this file. */
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503 #pragma inline_asm prvRegTest1Implementation
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504 static void prvRegTest1Implementation( void )
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506 ; Put a known value in each register.
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523 ; Loop, checking each iteration that each register still contains the
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527 ; Push the registers that are going to get clobbered.
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530 ; Increment the loop counter to show this task is still getting CPU time.
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531 MOV.L #_ulRegTest1LoopCounter, R14
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536 ; Yield to extend the text coverage. Set the bit in the ITU SWINTR register.
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538 MOV.L #0872E0H, R15
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543 ; Restore the clobbered registers.
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546 ; Now compare each register to ensure it still contains the value that was
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547 ; set before this loop was entered.
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579 ; All comparisons passed, start a new itteratio of this loop.
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583 ; A compare failed, just loop here so the loop counter stops incrementing
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584 ; causing the check task to indicate the error.
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587 /*-----------------------------------------------------------*/
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589 /* This function is explained in the comments at the top of this file. */
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590 #pragma inline_asm prvRegTest2Implementation
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591 static void prvRegTest2Implementation( void )
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593 ; Put a known value in each register.
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610 ; Loop, checking on each iteration that each register still contains the
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614 ; Push the registers that are going to get clobbered.
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617 ; Increment the loop counter to show this task is still getting CPU time.
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618 MOV.L #_ulRegTest2LoopCounter, R14
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623 ; Restore the clobbered registers.
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657 ; All comparisons passed, start a new itteratio of this loop.
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661 ; A compare failed, just loop here so the loop counter stops incrementing
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662 ; - causing the check task to indicate the error.
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665 /*-----------------------------------------------------------*/
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