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. The Blinky build
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73 * configuration uses main-blinky.c instead of main-full.c.
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74 * ****************************************************************************
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76 * Creates all the demo application tasks, then starts the scheduler. The web
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77 * documentation provides more details of the standard demo application tasks,
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78 * which provide no particular functionality but do provide a good example of
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79 * how to use the FreeRTOS API. The tasks defined in flop.c are included in the
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80 * set of standard demo tasks to ensure the floating point unit gets some
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83 * In addition to the standard demo tasks, the following tasks and tests are
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84 * defined and/or created within this file:
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86 * "Reg test" tasks - These fill the registers with known values, then
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87 * repeatedly check that each register still contains its expected value for
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88 * the lifetime of the tasks. Each task uses different values. The tasks run
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89 * with very low priority so get preempted very frequently. A check variable
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90 * is incremented on each iteration of the test loop. A register containing an
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91 * unexpected value is indicative of an error in the context switching
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92 * mechanism and will result in a branch to a null loop - which in turn will
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93 * prevent the check variable from incrementing any further and allow the check
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94 * timer (described below) to determine that an error has occurred. The nature
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95 * of the reg test tasks necessitates that they are written in assembly code.
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97 * "Check Timer" and Callback Function - The check timer period is initially
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98 * set to five seconds. The check timer callback function checks that all the
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99 * standard demo tasks are not only still executing, but are executing without
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100 * reporting any errors. If the check timer discovers that a task has either
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101 * stalled, or reported an error, then it changes its own period from the
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102 * initial five seconds, to just 200ms. The check timer callback function
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103 * also toggles LED 3 each time it is called. This provides a visual
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104 * indication of the system status: If the LED toggles every five seconds,
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105 * then no issues have been discovered. If the LED toggles every 200ms, then
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106 * an issue has been discovered with at least one task.
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108 * "High frequency timer test" - A high frequency periodic interrupt is
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109 * generated using a timer - the interrupt is assigned a priority above
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110 * configMAX_SYSCALL_INTERRUPT_PRIORITY, so will not be effected by anything
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111 * the kernel is doing. The frequency and priority of the interrupt, in
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112 * combination with other standard tests executed in this demo, will result
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113 * in interrupts nesting at least 3 and probably 4 deep. This test is only
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114 * included in build configurations that have the optimiser switched on.
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116 * *NOTE 1* If LED3 is toggling every 5 seconds then all the demo application
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117 * tasks are executing as expected and no errors have been reported in any
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118 * tasks. The toggle rate increasing to 200ms indicates that at least one task
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119 * has reported unexpected behaviour.
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121 * *NOTE 2* vApplicationSetupTimerInterrupt() is called by the kernel to let
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122 * the application set up a timer to generate the tick interrupt. In this
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123 * example a compare match timer is used for this purpose.
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125 * *NOTE 3* The CPU must be in Supervisor mode when the scheduler is started.
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126 * The PowerON_Reset_PC() supplied in resetprg.c with this demo has
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127 * Change_PSW_PM_to_UserMode() commented out to ensure this is the case.
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129 * *NOTE 4* The IntQueue common demo tasks test interrupt nesting and make use
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130 * of all the 8bit timers (as two cascaded 16bit units).
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133 /* Hardware specific includes. */
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134 #include "iodefine.h"
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136 /* Kernel includes. */
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137 #include "FreeRTOS.h"
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139 #include "timers.h"
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140 #include "semphr.h"
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142 /* Standard demo includes. */
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143 #include "partest.h"
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145 #include "IntQueue.h"
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146 #include "BlockQ.h"
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148 #include "integer.h"
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149 #include "blocktim.h"
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150 #include "semtest.h"
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152 #include "GenQTest.h"
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154 #include "recmutex.h"
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157 /* Values that are passed into the reg test tasks using the task parameter. The
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158 tasks check that the values are passed in correctly. */
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159 #define mainREG_TEST_1_PARAMETER ( 0x12121212UL )
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160 #define mainREG_TEST_2_PARAMETER ( 0x12345678UL )
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162 /* Priorities at which the tasks are created. */
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163 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 1 )
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164 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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165 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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166 #define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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167 #define mainFLASH_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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168 #define mainINTEGER_TASK_PRIORITY ( tskIDLE_PRIORITY )
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169 #define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )
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170 #define mainFLOP_TASK_PRIORITY ( tskIDLE_PRIORITY )
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172 /* The LED toggled by the check timer. */
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173 #define mainCHECK_LED ( 3 )
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175 /* The period at which the check timer will expire, in ms, provided no errors
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176 have been reported by any of the standard demo tasks. ms are converted to the
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177 equivalent in ticks using the portTICK_RATE_MS constant. */
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178 #define mainCHECK_TIMER_PERIOD_MS ( 5000UL / portTICK_RATE_MS )
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180 /* The period at which the check timer will expire, in ms, if an error has been
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181 reported in one of the standard demo tasks. ms are converted to the equivalent
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182 in ticks using the portTICK_RATE_MS constant. */
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183 #define mainERROR_CHECK_TIMER_PERIOD_MS ( 200UL / portTICK_RATE_MS )
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185 /* A block time of zero simple means "Don't Block". */
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186 #define mainDONT_BLOCK ( 0UL )
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189 * vApplicationMallocFailedHook() will only be called if
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190 * configUSE_MALLOC_FAILED_HOOK is set to 1 in FreeRTOSConfig.h. It is a hook
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191 * function that will execute if a call to pvPortMalloc() fails.
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192 * pvPortMalloc() is called internally by the kernel whenever a task, queue or
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193 * semaphore is created. It is also called by various parts of the demo
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196 void vApplicationMallocFailedHook( void );
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199 * vApplicationIdleHook() will only be called if configUSE_IDLE_HOOK is set to 1
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200 * in FreeRTOSConfig.h. It is a hook function that is called on each iteration
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201 * of the idle task. It is essential that code added to this hook function
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202 * never attempts to block in any way (for example, call xQueueReceive() with
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203 * a block time specified). If the application makes use of the vTaskDelete()
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204 * API function (as this demo application does) then it is also important that
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205 * vApplicationIdleHook() is permitted to return to its calling function because
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206 * it is the responsibility of the idle task to clean up memory allocated by the
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207 * kernel to any task that has since been deleted.
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209 void vApplicationIdleHook( void );
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212 * vApplicationStackOverflowHook() will only be called if
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213 * configCHECK_FOR_STACK_OVERFLOW is set to a non-zero value. The handle and
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214 * name of the offending task should be passed in the function parameters, but
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215 * it is possible that the stack overflow will have corrupted these - in which
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216 * case pxCurrentTCB can be inspected to find the same information.
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218 void vApplicationStackOverflowHook( xTaskHandle pxTask, signed char *pcTaskName );
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221 * The reg test tasks as described at the top of this file.
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223 static void prvRegTest1Task( void *pvParameters );
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224 static void prvRegTest2Task( void *pvParameters );
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227 * The actual implementation of the reg test functionality, which, because of
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228 * the direct register access, have to be in assembly.
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230 static void prvRegTest1Implementation( void );
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231 static void prvRegTest2Implementation( void );
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234 * The check timer callback function, as described at the top of this file.
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236 static void prvCheckTimerCallback( xTimerHandle xTimer );
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239 /*-----------------------------------------------------------*/
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241 /* Variables that are incremented on each iteration of the reg test tasks -
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242 provided the tasks have not reported any errors. The check timer inspects these
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243 variables to ensure they are still incrementing as expected. If a variable
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244 stops incrementing then it is likely that its associate task has stalled. */
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245 unsigned long ulRegTest1CycleCount = 0UL, ulRegTest2CycleCount = 0UL;
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247 /* The check timer. This uses prvCheckTimerCallback() as its callback
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249 static xTimerHandle xCheckTimer = NULL;
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251 /*-----------------------------------------------------------*/
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255 extern void HardwareSetup( void );
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257 /* Renesas provided CPU configuration routine. The clocks are configured in
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261 /* Turn all LEDs off. */
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262 vParTestInitialise();
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264 /* Start the reg test tasks which test the context switching mechanism. */
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265 xTaskCreate( prvRegTest1Task, "RegTst1", configMINIMAL_STACK_SIZE, ( void * ) mainREG_TEST_1_PARAMETER, tskIDLE_PRIORITY, NULL );
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266 xTaskCreate( prvRegTest2Task, "RegTst2", configMINIMAL_STACK_SIZE, ( void * ) mainREG_TEST_2_PARAMETER, tskIDLE_PRIORITY, NULL );
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268 /* Create the standard demo tasks. */
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269 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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270 vCreateBlockTimeTasks();
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271 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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272 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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273 vStartIntegerMathTasks( mainINTEGER_TASK_PRIORITY );
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274 vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
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275 vStartLEDFlashTasks( mainFLASH_TASK_PRIORITY );
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276 vStartQueuePeekTasks();
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277 vStartRecursiveMutexTasks();
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278 vStartInterruptQueueTasks();
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279 vStartMathTasks( mainFLOP_TASK_PRIORITY );
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281 /* The suicide tasks must be created last as they need to know how many
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282 tasks were running prior to their creation in order to ascertain whether
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283 or not the correct/expected number of tasks are running at any given time. */
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284 vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
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286 /* Create the software timer that performs the 'check' functionality,
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287 as described at the top of this file. */
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288 xCheckTimer = xTimerCreate( ( const signed char * ) "CheckTimer",/* A text name, purely to help debugging. */
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289 ( mainCHECK_TIMER_PERIOD_MS ), /* The timer period, in this case 5000ms (5s). */
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290 pdTRUE, /* This is an auto-reload timer, so xAutoReload is set to pdTRUE. */
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291 ( void * ) 0, /* The ID is not used, so can be set to anything. */
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292 prvCheckTimerCallback /* The callback function that inspects the status of all the other tasks. */
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295 /* Sanity check that the check timer was indeed created. */
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296 configASSERT( xCheckTimer );
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298 /* Start the check timer. It will actually start when the scheduler is
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300 xTimerStart( xCheckTimer, mainDONT_BLOCK );
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302 /* Start the tasks running. */
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303 vTaskStartScheduler();
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305 /* If all is well, the following line will never be reached as the scheduler
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306 will be running. If the following line is reached, there was insufficient
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307 FreeRTOS heap available for the idle task to be created. See
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308 http://www.freertos.org/a00111.html and the malloc failed hook function for
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309 more information. */
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312 /*-----------------------------------------------------------*/
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314 static void prvCheckTimerCallback( xTimerHandle xTimer )
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316 static long lChangedTimerPeriodAlready = pdFALSE, lErrorStatus = pdPASS;
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317 static volatile unsigned long ulLastRegTest1CycleCount = 0UL, ulLastRegTest2CycleCount = 0UL;
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319 /* Check the standard demo tasks are running without error. */
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320 if( xAreGenericQueueTasksStillRunning() != pdTRUE )
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322 lErrorStatus = pdFAIL;
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324 else if( xAreQueuePeekTasksStillRunning() != pdTRUE )
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326 lErrorStatus = pdFAIL;
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328 else if( xAreBlockingQueuesStillRunning() != pdTRUE )
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330 lErrorStatus = pdFAIL;
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332 else if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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334 lErrorStatus = pdFAIL;
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336 else if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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338 lErrorStatus = pdFAIL;
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340 else if( xArePollingQueuesStillRunning() != pdTRUE )
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342 lErrorStatus = pdFAIL;
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344 else if( xIsCreateTaskStillRunning() != pdTRUE )
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346 lErrorStatus = pdFAIL;
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348 else if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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350 lErrorStatus = pdFAIL;
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352 else if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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354 lErrorStatus = pdFAIL;
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356 else if( xAreIntQueueTasksStillRunning() != pdPASS )
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358 lErrorStatus = pdFAIL;
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360 else if( xAreMathsTaskStillRunning() != pdPASS )
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362 lErrorStatus = pdFAIL;
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365 /* Check the reg test tasks are still cycling. They will stop incrementing
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366 their loop counters if they encounter an error. */
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367 if( ulRegTest1CycleCount == ulLastRegTest1CycleCount )
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369 lErrorStatus = pdFAIL;
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372 if( ulRegTest2CycleCount == ulLastRegTest2CycleCount )
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374 lErrorStatus = pdFAIL;
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377 ulLastRegTest1CycleCount = ulRegTest1CycleCount;
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378 ulLastRegTest2CycleCount = ulRegTest2CycleCount;
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380 /* Toggle the check LED to give an indication of the system status. If
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381 the LED toggles every 5 seconds then everything is ok. A faster toggle
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382 indicates an error. */
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383 vParTestToggleLED( mainCHECK_LED );
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385 /* Was an error detected this time through the callback execution? */
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386 if( lErrorStatus != pdPASS )
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388 if( lChangedTimerPeriodAlready == pdFALSE )
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390 lChangedTimerPeriodAlready = pdTRUE;
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392 /* This call to xTimerChangePeriod() uses a zero block time.
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393 Functions called from inside of a timer callback function must
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394 *never* attempt to block. */
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395 xTimerChangePeriod( xCheckTimer, ( mainERROR_CHECK_TIMER_PERIOD_MS ), mainDONT_BLOCK );
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399 /*-----------------------------------------------------------*/
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401 /* The RX port uses this callback function to configure its tick interrupt.
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402 This allows the application to choose the tick interrupt source. */
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403 void vApplicationSetupTimerInterrupt( void )
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405 /* Enable compare match timer 0. */
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408 /* Interrupt on compare match. */
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409 CMT0.CMCR.BIT.CMIE = 1;
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411 /* Set the compare match value. */
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412 CMT0.CMCOR = ( unsigned short ) ( ( ( configPERIPHERAL_CLOCK_HZ / configTICK_RATE_HZ ) -1 ) / 8 );
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414 /* Divide the PCLK by 8. */
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415 CMT0.CMCR.BIT.CKS = 0;
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417 /* Enable the interrupt... */
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418 _IEN( _CMT0_CMI0 ) = 1;
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420 /* ...and set its priority to the application defined kernel priority. */
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421 _IPR( _CMT0_CMI0 ) = configKERNEL_INTERRUPT_PRIORITY;
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423 /* Start the timer. */
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424 CMT.CMSTR0.BIT.STR0 = 1;
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426 /*-----------------------------------------------------------*/
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428 /* This function is explained by the comments above its prototype at the top
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430 void vApplicationMallocFailedHook( void )
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434 /*-----------------------------------------------------------*/
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436 /* This function is explained by the comments above its prototype at the top
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438 void vApplicationStackOverflowHook( xTaskHandle pxTask, signed char *pcTaskName )
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442 /*-----------------------------------------------------------*/
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444 /* This function is explained by the comments above its prototype at the top
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446 void vApplicationIdleHook( void )
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448 /* If this is being executed then the kernel has been started. Start the high
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449 frequency timer test as described at the top of this file. This is only
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450 included in the optimised build configuration - otherwise it takes up too much
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451 CPU time and can disrupt other tests. */
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452 #ifdef INCLUDE_HIGH_FREQUENCY_TIMER_TEST
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453 static portBASE_TYPE xTimerTestStarted = pdFALSE;
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454 extern void vSetupHighFrequencyTimer( void );
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455 if( xTimerTestStarted == pdFALSE )
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457 vSetupHighFrequencyTimer();
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458 xTimerTestStarted = pdTRUE;
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462 /*-----------------------------------------------------------*/
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464 /* This function is explained in the comments at the top of this file. */
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465 static void prvRegTest1Task( void *pvParameters )
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467 if( ( ( unsigned long ) pvParameters ) != mainREG_TEST_1_PARAMETER )
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469 /* The parameter did not contain the expected value. */
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472 /* Stop the tick interrupt so its obvious something has gone wrong. */
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473 taskDISABLE_INTERRUPTS();
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477 /* This is an inline asm function that never returns. */
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478 prvRegTest1Implementation();
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480 /*-----------------------------------------------------------*/
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482 /* This function is explained in the comments at the top of this file. */
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483 static void prvRegTest2Task( void *pvParameters )
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485 if( ( ( unsigned long ) pvParameters ) != mainREG_TEST_2_PARAMETER )
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487 /* The parameter did not contain the expected value. */
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490 /* Stop the tick interrupt so its obvious something has gone wrong. */
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491 taskDISABLE_INTERRUPTS();
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495 /* This is an inline asm function that never returns. */
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496 prvRegTest2Implementation();
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498 /*-----------------------------------------------------------*/
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500 /* This function is explained in the comments at the top of this file. */
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501 #pragma inline_asm prvRegTest1Implementation
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502 static void prvRegTest1Implementation( void )
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504 ; Put a known value in each register.
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521 ; Loop, checking each itteration that each register still contains the
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525 ; Push the registers that are going to get clobbered.
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528 ; Increment the loop counter to show this task is still getting CPU time.
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529 MOV.L #_ulRegTest1CycleCount, R14
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534 ; Yield to extend the text coverage. Set the bit in the ITU SWINTR register.
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536 MOV.L #0872E0H, R15
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541 ; Restore the clobbered registers.
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544 ; Now compare each register to ensure it still contains the value that was
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545 ; set before this loop was entered.
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577 ; All comparisons passed, start a new itteratio of this loop.
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581 ; A compare failed, just loop here so the loop counter stops incrementing
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582 ; causing the check timer to indicate the error.
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585 /*-----------------------------------------------------------*/
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587 /* This function is explained in the comments at the top of this file. */
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588 #pragma inline_asm prvRegTest2Implementation
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589 static void prvRegTest2Implementation( void )
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591 ; Put a known value in each register.
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608 ; Loop, checking on each itteration that each register still contains the
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612 ; Push the registers that are going to get clobbered.
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615 ; Increment the loop counter to show this task is still getting CPU time.
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616 MOV.L #_ulRegTest2CycleCount, R14
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621 ; Restore the clobbered registers.
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655 ; All comparisons passed, start a new itteratio of this loop.
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659 ; A compare failed, just loop here so the loop counter stops incrementing
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660 ; - causing the check timer to indicate the error.
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663 /*-----------------------------------------------------------*/
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