2 FreeRTOS V7.3.0 - Copyright (C) 2012 Real Time Engineers Ltd.
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4 FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME. PLEASE VISIT
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5 http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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7 ***************************************************************************
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9 * FreeRTOS tutorial books are available in pdf and paperback. *
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10 * Complete, revised, and edited pdf reference manuals are also *
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13 * Purchasing FreeRTOS documentation will not only help you, by *
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14 * ensuring you get running as quickly as possible and with an *
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15 * in-depth knowledge of how to use FreeRTOS, it will also help *
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16 * the FreeRTOS project to continue with its mission of providing *
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17 * professional grade, cross platform, de facto standard solutions *
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18 * for microcontrollers - completely free of charge! *
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20 * >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
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22 * Thank you for using FreeRTOS, and thank you for your support! *
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24 ***************************************************************************
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27 This file is part of the FreeRTOS distribution.
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29 FreeRTOS is free software; you can redistribute it and/or modify it under
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30 the terms of the GNU General Public License (version 2) as published by the
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31 Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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32 >>>NOTE<<< The modification to the GPL is included to allow you to
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33 distribute a combined work that includes FreeRTOS without being obliged to
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34 provide the source code for proprietary components outside of the FreeRTOS
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35 kernel. FreeRTOS is distributed in the hope that it will be useful, but
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36 WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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37 or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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38 more details. You should have received a copy of the GNU General Public
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39 License and the FreeRTOS license exception along with FreeRTOS; if not it
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40 can be viewed here: http://www.freertos.org/a00114.html and also obtained
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41 by writing to Richard Barry, contact details for whom are available on the
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46 ***************************************************************************
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48 * Having a problem? Start by reading the FAQ "My application does *
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49 * not run, what could be wrong?" *
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51 * http://www.FreeRTOS.org/FAQHelp.html *
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53 ***************************************************************************
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56 http://www.FreeRTOS.org - Documentation, training, latest versions, license
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57 and contact details.
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59 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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60 including FreeRTOS+Trace - an indispensable productivity tool.
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62 Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell
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63 the code with commercial support, indemnification, and middleware, under
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64 the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also
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65 provide a safety engineered and independently SIL3 certified version under
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66 the SafeRTOS brand: http://www.SafeRTOS.com.
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69 /* ****************************************************************************
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70 * This project includes a lot of tasks and tests and is therefore complex.
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71 * If you would prefer a much simpler project to get started with then select
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72 * the 'Blinky' build configuration within the HEW IDE.
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73 * ****************************************************************************
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75 * Creates all the demo application tasks, then starts the scheduler. The web
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76 * documentation provides more details of the standard demo application tasks,
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77 * which provide no particular functionality but do provide a good example of
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78 * how to use the FreeRTOS API. The tasks defined in flop.c are included in the
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79 * set of standard demo tasks to ensure the floating point unit gets some
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82 * In addition to the standard demo tasks, the following tasks and tests are
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83 * defined and/or created within this file:
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85 * Webserver ("uIP") task - This serves a number of dynamically generated WEB
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86 * pages to a standard WEB browser. The IP and MAC addresses are configured by
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87 * constants defined at the bottom of FreeRTOSConfig.h. Use either a standard
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88 * Ethernet cable to connect through a hug, or a cross over (point to point)
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89 * cable to connect directly. Ensure the IP address used is compatible with the
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90 * IP address of the machine running the browser - the easiest way to achieve
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91 * this is to ensure the first three octets of the IP addresses are the same.
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93 * "Reg test" tasks - These fill the registers with known values, then check
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94 * that each register still contains its expected value. Each task uses
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95 * different values. The tasks run with very low priority so get preempted
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96 * very frequently. A check variable is incremented on each iteration of the
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97 * test loop. A register containing an unexpected value is indicative of an
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98 * error in the context switching mechanism and will result in a branch to a
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99 * null loop - which in turn will prevent the check variable from incrementing
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100 * any further and allow the check task (described below) to determine that an
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101 * error has occurred. The nature of the reg test tasks necessitates that they
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102 * are written in assembly code.
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104 * "Check" task - This only executes every five seconds but has a high priority
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105 * to ensure it gets processor time. Its main function is to check that all the
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106 * standard demo tasks are still operational. While no errors have been
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107 * discovered the check task will toggle LED 5 (marked LED 9 on the silk
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108 * screen!) every 5 seconds - the toggle rate increasing to 200ms being a visual
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109 * indication that at least one task has reported unexpected behaviour.
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111 * "High frequency timer test" - A high frequency periodic interrupt is
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112 * generated using a timer - the interrupt is assigned a priority above
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113 * configMAX_SYSCALL_INTERRUPT_PRIORITY so should not be effected by anything
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114 * the kernel is doing. The frequency and priority of the interrupt, in
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115 * combination with other standard tests executed in this demo, should result
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116 * in interrupts nesting at least 3 and probably 4 deep. This test is only
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117 * included in build configurations that have the optimiser switched on. In
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118 * optimised builds the count of high frequency ticks is used as the time base
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119 * for the run time stats.
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121 * *NOTE 1* If LED5 is toggling every 5 seconds then all the demo application
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122 * tasks are executing as expected and no errors have been reported in any
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123 * tasks. The toggle rate increasing to 200ms indicates that at least one task
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124 * has reported unexpected behaviour.
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126 * *NOTE 2* vApplicationSetupTimerInterrupt() is called by the kernel to let
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127 * the application set up a timer to generate the tick interrupt. In this
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128 * example a compare match timer is used for this purpose.
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130 * *NOTE 3* The CPU must be in Supervisor mode when the scheduler is started.
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131 * The PowerON_Reset_PC() supplied in resetprg.c with this demo has
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132 * Change_PSW_PM_to_UserMode() commented out to ensure this is the case.
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134 * *NOTE 4* The IntQueue common demo tasks test interrupt nesting and make use
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135 * of all the 8bit timers (as two cascaded 16bit units).
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138 /* Hardware specific includes. */
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139 #include "iodefine.h"
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141 /* Kernel includes. */
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142 #include "FreeRTOS.h"
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145 /* Standard demo includes. */
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146 #include "partest.h"
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148 #include "IntQueue.h"
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149 #include "BlockQ.h"
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151 #include "integer.h"
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152 #include "blocktim.h"
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153 #include "semtest.h"
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155 #include "GenQTest.h"
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157 #include "recmutex.h"
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160 /* Values that are passed into the reg test tasks using the task parameter. The
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161 tasks check that the values are passed in correctly. */
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162 #define mainREG_TEST_1_PARAMETER ( 0x12121212UL )
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163 #define mainREG_TEST_2_PARAMETER ( 0x12345678UL )
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165 /* Priorities at which the tasks are created. */
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166 #define mainCHECK_TASK_PRIORITY ( configMAX_PRIORITIES - 1 )
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167 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 1 )
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168 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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169 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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170 #define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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171 #define mainFLASH_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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172 #define mainuIP_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
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173 #define mainINTEGER_TASK_PRIORITY ( tskIDLE_PRIORITY )
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174 #define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )
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175 #define mainFLOP_TASK_PRIORITY ( tskIDLE_PRIORITY )
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177 /* The WEB server uses string handling functions, which in turn use a bit more
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178 stack than most of the other tasks. */
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179 #define mainuIP_STACK_SIZE ( configMINIMAL_STACK_SIZE * 3 )
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181 /* The LED toggled by the check task. */
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182 #define mainCHECK_LED ( 5 ) /* Marked LED 9 on the RDK silk screen. */
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184 /* The rate at which mainCHECK_LED will toggle when all the tasks are running
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185 without error. Controlled by the check task as described at the top of this
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187 #define mainNO_ERROR_CYCLE_TIME ( 5000 / portTICK_RATE_MS )
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189 /* The rate at which mainCHECK_LED will toggle when an error has been reported
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190 by at least one task. Controlled by the check task as described at the top of
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192 #define mainERROR_CYCLE_TIME ( 200 / portTICK_RATE_MS )
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195 * vApplicationMallocFailedHook() will only be called if
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196 * configUSE_MALLOC_FAILED_HOOK is set to 1 in FreeRTOSConfig.h. It is a hook
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197 * function that will execute if a call to pvPortMalloc() fails.
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198 * pvPortMalloc() is called internally by the kernel whenever a task, queue or
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199 * semaphore is created. It is also called by various parts of the demo
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202 void vApplicationMallocFailedHook( void );
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205 * vApplicationIdleHook() will only be called if configUSE_IDLE_HOOK is set to 1
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206 * in FreeRTOSConfig.h. It is a hook function that is called on each iteration
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207 * of the idle task. It is essential that code added to this hook function
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208 * never attempts to block in any way (for example, call xQueueReceive() with
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209 * a block time specified). If the application makes use of the vTaskDelete()
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210 * API function (as this demo application does) then it is also important that
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211 * vApplicationIdleHook() is permitted to return to its calling function because
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212 * it is the responsibility of the idle task to clean up memory allocated by the
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213 * kernel to any task that has since been deleted.
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215 void vApplicationIdleHook( void );
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218 * vApplicationStackOverflowHook() will only be called if
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219 * configCHECK_FOR_STACK_OVERFLOW is set to a non-zero value. The handle and
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220 * name of the offending task should be passed in the function parameters, but
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221 * it is possible that the stack overflow will have corrupted these - in which
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222 * case pxCurrentTCB can be inspected to find the same information.
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224 void vApplicationStackOverflowHook( xTaskHandle pxTask, signed char *pcTaskName );
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227 * The reg test tasks as described at the top of this file.
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229 static void prvRegTest1Task( void *pvParameters );
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230 static void prvRegTest2Task( void *pvParameters );
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233 * The actual implementation of the reg test functionality, which, because of
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234 * the direct register access, have to be in assembly.
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236 static void prvRegTest1Implementation( void );
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237 static void prvRegTest2Implementation( void );
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240 * The check task as described at the top of this file.
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242 static void prvCheckTask( void *pvParameters );
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245 * Contains the implementation of the WEB server.
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247 extern void vuIP_Task( void *pvParameters );
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249 /*-----------------------------------------------------------*/
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251 /* Variables that are incremented on each iteration of the reg test tasks -
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252 provided the tasks have not reported any errors. The check task inspects these
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253 variables to ensure they are still incrementing as expected. If a variable
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254 stops incrementing then it is likely that its associate task has stalled. */
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255 unsigned long ulRegTest1CycleCount = 0UL, ulRegTest2CycleCount = 0UL;
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257 /* The status message that is displayed at the bottom of the "task stats" web
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258 page, which is served by the uIP task. This will report any errors picked up
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259 by the reg test task. */
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260 const char *pcStatusMessage = "All tasks executing without error.";
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262 /*-----------------------------------------------------------*/
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266 extern void HardwareSetup( void );
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268 /* Renesas provided CPU configuration routine. The clocks are configured in
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272 /* Turn all LEDs off. */
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273 vParTestInitialise();
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275 /* Start the reg test tasks which test the context switching mechanism. */
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276 xTaskCreate( prvRegTest1Task, "RegTst1", configMINIMAL_STACK_SIZE, ( void * ) mainREG_TEST_1_PARAMETER, tskIDLE_PRIORITY, NULL );
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277 xTaskCreate( prvRegTest2Task, "RegTst2", configMINIMAL_STACK_SIZE, ( void * ) mainREG_TEST_2_PARAMETER, tskIDLE_PRIORITY, NULL );
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279 /* The web server task. */
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280 xTaskCreate( vuIP_Task, "uIP", mainuIP_STACK_SIZE, NULL, mainuIP_TASK_PRIORITY, NULL );
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282 /* Start the check task as described at the top of this file. */
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283 xTaskCreate( prvCheckTask, "Check", configMINIMAL_STACK_SIZE * 3, NULL, mainCHECK_TASK_PRIORITY, NULL );
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285 /* Create the standard demo tasks. */
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286 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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287 vCreateBlockTimeTasks();
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288 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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289 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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290 vStartIntegerMathTasks( mainINTEGER_TASK_PRIORITY );
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291 vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
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292 vStartLEDFlashTasks( mainFLASH_TASK_PRIORITY );
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293 vStartQueuePeekTasks();
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294 vStartRecursiveMutexTasks();
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295 vStartInterruptQueueTasks();
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296 vStartMathTasks( mainFLOP_TASK_PRIORITY );
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298 /* The suicide tasks must be created last as they need to know how many
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299 tasks were running prior to their creation in order to ascertain whether
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300 or not the correct/expected number of tasks are running at any given time. */
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301 vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
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303 /* Start the tasks running. */
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304 vTaskStartScheduler();
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306 /* If all is well we will never reach here as the scheduler will now be
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307 running. If we do reach here then it is likely that there was insufficient
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308 heap available for the idle task to be created. */
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311 /*-----------------------------------------------------------*/
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313 static void prvCheckTask( void *pvParameters )
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315 static volatile unsigned long ulLastRegTest1CycleCount = 0UL, ulLastRegTest2CycleCount = 0UL;
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316 portTickType xNextWakeTime, xCycleFrequency = mainNO_ERROR_CYCLE_TIME;
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317 extern void vSetupHighFrequencyTimer( void );
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319 /* If this is being executed then the kernel has been started. Start the high
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320 frequency timer test as described at the top of this file. This is only
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321 included in the optimised build configuration - otherwise it takes up too much
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322 CPU time and can disrupt other tests. */
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323 #ifdef INCLUDE_HIGH_FREQUENCY_TIMER_TEST
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324 vSetupHighFrequencyTimer();
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327 /* Initialise xNextWakeTime - this only needs to be done once. */
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328 xNextWakeTime = xTaskGetTickCount();
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332 /* Place this task in the blocked state until it is time to run again. */
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333 vTaskDelayUntil( &xNextWakeTime, xCycleFrequency );
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335 /* Check the standard demo tasks are running without error. */
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336 if( xAreGenericQueueTasksStillRunning() != pdTRUE )
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338 /* Increase the rate at which this task cycles, which will increase the
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339 rate at which mainCHECK_LED flashes to give visual feedback that an error
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341 xCycleFrequency = mainERROR_CYCLE_TIME;
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342 pcStatusMessage = "Error: GenQueue";
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344 else if( xAreQueuePeekTasksStillRunning() != pdTRUE )
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346 xCycleFrequency = mainERROR_CYCLE_TIME;
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347 pcStatusMessage = "Error: QueuePeek";
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349 else if( xAreBlockingQueuesStillRunning() != pdTRUE )
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351 xCycleFrequency = mainERROR_CYCLE_TIME;
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352 pcStatusMessage = "Error: BlockQueue";
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354 else if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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356 xCycleFrequency = mainERROR_CYCLE_TIME;
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357 pcStatusMessage = "Error: BlockTime";
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359 else if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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361 xCycleFrequency = mainERROR_CYCLE_TIME;
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362 pcStatusMessage = "Error: SemTest";
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364 else if( xArePollingQueuesStillRunning() != pdTRUE )
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366 xCycleFrequency = mainERROR_CYCLE_TIME;
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367 pcStatusMessage = "Error: PollQueue";
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369 else if( xIsCreateTaskStillRunning() != pdTRUE )
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371 xCycleFrequency = mainERROR_CYCLE_TIME;
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372 pcStatusMessage = "Error: Death";
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374 else if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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376 xCycleFrequency = mainERROR_CYCLE_TIME;
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377 pcStatusMessage = "Error: IntMath";
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379 else if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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381 xCycleFrequency = mainERROR_CYCLE_TIME;
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382 pcStatusMessage = "Error: RecMutex";
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384 else if( xAreIntQueueTasksStillRunning() != pdPASS )
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386 xCycleFrequency = mainERROR_CYCLE_TIME;
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387 pcStatusMessage = "Error: IntQueue";
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389 else if( xAreMathsTaskStillRunning() != pdPASS )
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391 xCycleFrequency = mainERROR_CYCLE_TIME;
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392 pcStatusMessage = "Error: Flop";
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395 /* Check the reg test tasks are still cycling. They will stop incrementing
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396 their loop counters if they encounter an error. */
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397 if( ulRegTest1CycleCount == ulLastRegTest1CycleCount )
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399 xCycleFrequency = mainERROR_CYCLE_TIME;
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400 pcStatusMessage = "Error: RegTest1";
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403 if( ulRegTest2CycleCount == ulLastRegTest2CycleCount )
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405 xCycleFrequency = mainERROR_CYCLE_TIME;
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406 pcStatusMessage = "Error: RegTest2";
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409 ulLastRegTest1CycleCount = ulRegTest1CycleCount;
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410 ulLastRegTest2CycleCount = ulRegTest2CycleCount;
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412 /* Toggle the check LED to give an indication of the system status. If
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413 the LED toggles every 5 seconds then everything is ok. A faster toggle
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414 indicates an error. */
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415 vParTestToggleLED( mainCHECK_LED );
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418 /*-----------------------------------------------------------*/
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420 /* The RX port uses this callback function to configure its tick interrupt.
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421 This allows the application to choose the tick interrupt source. */
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422 void vApplicationSetupTimerInterrupt( void )
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424 /* Enable compare match timer 0. */
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427 /* Interrupt on compare match. */
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428 CMT0.CMCR.BIT.CMIE = 1;
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430 /* Set the compare match value. */
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431 CMT0.CMCOR = ( unsigned short ) ( ( ( configPERIPHERAL_CLOCK_HZ / configTICK_RATE_HZ ) -1 ) / 8 );
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433 /* Divide the PCLK by 8. */
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434 CMT0.CMCR.BIT.CKS = 0;
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436 /* Enable the interrupt... */
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437 _IEN( _CMT0_CMI0 ) = 1;
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439 /* ...and set its priority to the application defined kernel priority. */
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440 _IPR( _CMT0_CMI0 ) = configKERNEL_INTERRUPT_PRIORITY;
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442 /* Start the timer. */
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443 CMT.CMSTR0.BIT.STR0 = 1;
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445 /*-----------------------------------------------------------*/
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447 /* This function is explained by the comments above its prototype at the top
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449 void vApplicationMallocFailedHook( void )
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453 /*-----------------------------------------------------------*/
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455 /* This function is explained by the comments above its prototype at the top
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457 void vApplicationStackOverflowHook( xTaskHandle pxTask, signed char *pcTaskName )
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461 /*-----------------------------------------------------------*/
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463 /* This function is explained by the comments above its prototype at the top
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465 void vApplicationIdleHook( void )
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468 /*-----------------------------------------------------------*/
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470 /* This function is explained in the comments at the top of this file. */
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471 static void prvRegTest1Task( void *pvParameters )
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473 if( ( ( unsigned long ) pvParameters ) != mainREG_TEST_1_PARAMETER )
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475 /* The parameter did not contain the expected value. */
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478 /* Stop the tick interrupt so its obvious something has gone wrong. */
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479 taskDISABLE_INTERRUPTS();
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483 /* This is an inline asm function that never returns. */
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484 prvRegTest1Implementation();
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486 /*-----------------------------------------------------------*/
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488 /* This function is explained in the comments at the top of this file. */
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489 static void prvRegTest2Task( void *pvParameters )
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491 if( ( ( unsigned long ) pvParameters ) != mainREG_TEST_2_PARAMETER )
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493 /* The parameter did not contain the expected value. */
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496 /* Stop the tick interrupt so its obvious something has gone wrong. */
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497 taskDISABLE_INTERRUPTS();
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501 /* This is an inline asm function that never returns. */
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502 prvRegTest2Implementation();
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504 /*-----------------------------------------------------------*/
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506 /* This function is explained in the comments at the top of this file. */
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507 #pragma inline_asm prvRegTest1Implementation
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508 static void prvRegTest1Implementation( void )
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510 ; Put a known value in each register.
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527 ; Loop, checking each itteration that each register still contains the
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531 ; Push the registers that are going to get clobbered.
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534 ; Increment the loop counter to show this task is still getting CPU time.
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535 MOV.L #_ulRegTest1CycleCount, R14
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540 ; Yield to extend the text coverage. Set the bit in the ITU SWINTR register.
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542 MOV.L #0872E0H, R15
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547 ; Restore the clobbered registers.
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550 ; Now compare each register to ensure it still contains the value that was
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551 ; set before this loop was entered.
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583 ; All comparisons passed, start a new itteratio of this loop.
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587 ; A compare failed, just loop here so the loop counter stops incrementing
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588 ; causing the check task to indicate the error.
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591 /*-----------------------------------------------------------*/
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593 /* This function is explained in the comments at the top of this file. */
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594 #pragma inline_asm prvRegTest2Implementation
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595 static void prvRegTest2Implementation( void )
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597 ; Put a known value in each register.
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614 ; Loop, checking on each itteration that each register still contains the
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618 ; Push the registers that are going to get clobbered.
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621 ; Increment the loop counter to show this task is still getting CPU time.
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622 MOV.L #_ulRegTest2CycleCount, R14
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627 ; Restore the clobbered registers.
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661 ; All comparisons passed, start a new itteratio of this loop.
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665 ; A compare failed, just loop here so the loop counter stops incrementing
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666 ; - causing the check task to indicate the error.
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669 /*-----------------------------------------------------------*/
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671 char *pcGetTaskStatusMessage( void )
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673 /* Not bothered about a critical section here although technically because of
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674 the task priorities the pointer could change it will be atomic if not near
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675 atomic and its not critical. */
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676 return ( char * ) pcStatusMessage;
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678 /*-----------------------------------------------------------*/
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