2 FreeRTOS V7.1.1 - Copyright (C) 2012 Real Time Engineers Ltd.
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5 ***************************************************************************
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7 * FreeRTOS tutorial books are available in pdf and paperback. *
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8 * Complete, revised, and edited pdf reference manuals are also *
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11 * Purchasing FreeRTOS documentation will not only help you, by *
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12 * ensuring you get running as quickly as possible and with an *
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13 * in-depth knowledge of how to use FreeRTOS, it will also help *
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14 * the FreeRTOS project to continue with its mission of providing *
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15 * professional grade, cross platform, de facto standard solutions *
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16 * for microcontrollers - completely free of charge! *
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18 * >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
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20 * Thank you for using FreeRTOS, and thank you for your support! *
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22 ***************************************************************************
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25 This file is part of the FreeRTOS distribution.
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27 FreeRTOS is free software; you can redistribute it and/or modify it under
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28 the terms of the GNU General Public License (version 2) as published by the
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29 Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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30 >>>NOTE<<< The modification to the GPL is included to allow you to
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31 distribute a combined work that includes FreeRTOS without being obliged to
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32 provide the source code for proprietary components outside of the FreeRTOS
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33 kernel. FreeRTOS is distributed in the hope that it will be useful, but
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34 WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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35 or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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36 more details. You should have received a copy of the GNU General Public
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37 License and the FreeRTOS license exception along with FreeRTOS; if not it
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38 can be viewed here: http://www.freertos.org/a00114.html and also obtained
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39 by writing to Richard Barry, contact details for whom are available on the
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44 ***************************************************************************
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46 * Having a problem? Start by reading the FAQ "My application does *
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47 * not run, what could be wrong? *
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49 * http://www.FreeRTOS.org/FAQHelp.html *
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51 ***************************************************************************
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54 http://www.FreeRTOS.org - Documentation, training, latest information,
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55 license and contact details.
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57 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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58 including FreeRTOS+Trace - an indispensable productivity tool.
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60 Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell
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61 the code with commercial support, indemnification, and middleware, under
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62 the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also
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63 provide a safety engineered and independently SIL3 certified version under
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64 the SafeRTOS brand: http://www.SafeRTOS.com.
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67 /******************************************************************************
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68 * >>>>>> NOTE: <<<<<<
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70 * main() can be configured to create either a very simple LED flasher demo, or
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71 * a more comprehensive test/demo application.
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73 * To create a very simple LED flasher example, set the
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74 * mainCREATE_SIMPLE_LED_FLASHER_DEMO_ONLY constant (defined below) to 1. When
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75 * this is done, only the standard demo flash tasks are created. The standard
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76 * demo flash example creates three tasks, each toggle an LED at a fixed but
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77 * different frequency.
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79 * To create a more comprehensive test and demo application, set
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80 * mainCREATE_SIMPLE_LED_FLASHER_DEMO_ONLY to 0.
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82 * Two build configurations are provided, one that executes from RAM and one
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83 * that executes from Flash. The RAM build uses size optimisation, the Flash
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84 * build has optimisation completely turned off. The documentation page for
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85 * this port on the FreeRTOS.org web site provides full information.
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86 ******************************************************************************
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88 * main() creates all the demo application tasks and timers, then starts the
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89 * scheduler. The web documentation provides more details of the standard demo
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90 * application tasks, which provide no particular functionality, but do provide
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91 * a good example of how to use the FreeRTOS API.
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93 * In addition to the standard demo tasks, the following tasks and tests are
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94 * defined and/or created within this file:
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96 * "Reg test" tasks - These fill the registers with known values, then check
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97 * that each register maintains its expected value for the lifetime of the
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98 * task. Each task uses a different set of values. The reg test tasks execute
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99 * with a very low priority, so get preempted very frequently. A register
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100 * containing an unexpected value is indicative of an error in the context
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101 * switching mechanism.
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103 * "Check" task - The check task period is initially set to five seconds.
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104 * Each time it executes, the check task checks that all the standard demo
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105 * tasks, and the register check tasks, are not only still executing, but are
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106 * executing without reporting any errors. If the check task discovers that a
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107 * task has either stalled, or reported an error, then it changes its own
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108 * execution period from the initial five seconds, to just 500ms. The check
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109 * task also toggles an LED each time it is called. This provides a visual
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110 * indication of the system status: If the LED toggles every five seconds,
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111 * then no issues have been discovered. If the LED toggles every 500ms, then
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112 * an issue has been discovered with at least one task.
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114 * ***NOTE*** This demo uses the standard comtest tasks, which has special
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115 * hardware requirements as a loopback connector, or UART echo server are
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116 * required. See the documentation page for this demo on the FreeRTOS.org web
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117 * site for more information. Note that the comtest tasks were tested by
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118 * placing the UART into loopback mode directly in the serial initialisation
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119 * sequence, and as such, the baud rate used has not been verified as actually
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123 /* Standard includes. */
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124 #include <stdlib.h>
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125 #include <string.h>
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127 /* Scheduler includes. */
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128 #include "FreeRTOS.h"
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130 #include "croutine.h"
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132 /* Demo application includes. */
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133 #include "partest.h"
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135 #include "integer.h"
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137 #include "comtest2.h"
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138 #include "semtest.h"
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139 #include "dynamic.h"
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140 #include "BlockQ.h"
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141 #include "blocktim.h"
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142 #include "countsem.h"
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143 #include "GenQTest.h"
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144 #include "recmutex.h"
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145 #include "serial.h"
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147 #include "TimerDemo.h"
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148 #include "InterruptNestTest.h"
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150 /*-----------------------------------------------------------*/
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152 /* Constants for the ComTest tasks. */
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153 #define mainCOM_TEST_BAUD_RATE ( ( unsigned long ) 200000 )
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155 #define mainCOM_TEST_LED ( 5 )
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157 /* Priorities for the demo application tasks. */
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158 #define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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159 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
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160 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
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161 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 4 )
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162 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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163 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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164 #define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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166 /* The rate at which the on board LED will toggle when there is/is not an
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168 #define mainNO_ERROR_FLASH_PERIOD_MS ( ( portTickType ) 5000 / portTICK_RATE_MS )
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169 #define mainERROR_FLASH_PERIOD_MS ( ( portTickType ) 500 / portTICK_RATE_MS )
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170 #define mainON_BOARD_LED_BIT ( ( unsigned long ) 7 )
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172 /* Constant used by the standard timer test functions. The timers created by
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173 the timer test functions will all have a period that is a multiple of this
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175 #define mainTIMER_TEST_PERIOD ( 200 )
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177 /* Set mainCREATE_SIMPLE_LED_FLASHER_DEMO_ONLY to 1 to create a simple demo.
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178 Set mainCREATE_SIMPLE_LED_FLASHER_DEMO_ONLY to 0 to create a much more
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179 comprehensive test application. See the comments at the top of this file, and
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180 the documentation page on the http://www.FreeRTOS.org web site for more
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182 #define mainCREATE_SIMPLE_LED_FLASHER_DEMO_ONLY 0
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184 /*-----------------------------------------------------------*/
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187 * Checks that all the demo application tasks are still executing without error
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188 * - as described at the top of the file.
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190 static long prvCheckOtherTasksAreStillRunning( void );
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193 * The task that executes at the highest priority and calls
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194 * prvCheckOtherTasksAreStillRunning(). See the description at the top
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197 static void prvCheckTask( void *pvParameters );
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200 * Configure the processor ready to run this demo.
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202 static void prvSetupHardware( void );
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205 * Writes to and checks the value of each register that is used in the context
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206 * of a task. See the comments at the top of this file.
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208 static void prvRegisterCheckTask1( void *pvParameters );
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209 static void prvRegisterCheckTask2( void *pvParameters );
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212 * Specific check to see if the register test functions are still operating
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215 static portBASE_TYPE prvAreRegTestTasksStillRunning( void );
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218 * This file can be used to create either a simple LED flasher example, or a
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219 * comprehensive test/demo application - depending on the setting of the
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220 * mainCREATE_SIMPLE_LED_FLASHER_DEMO_ONLY constant defined above. If
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221 * mainCREATE_SIMPLE_LED_FLASHER_DEMO_ONLY is set to 1, then the following
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222 * function will create a lot of additional tasks and timers. If
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223 * mainCREATE_SIMPLE_LED_FLASHER_DEMO_ONLY is set to 0, then the following
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224 * function will do nothing.
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226 static void prvOptionallyCreateComprehensveTestApplication( void );
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228 /*-----------------------------------------------------------*/
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230 /* Used by the register test tasks to indicated liveness. */
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231 static unsigned long ulRegisterTest1Count = 0;
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232 static unsigned long ulRegisterTest2Count = 0;
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234 /*-----------------------------------------------------------*/
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237 * Starts all the tasks, then starts the scheduler.
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241 /* Setup the hardware for use with the TriCore evaluation board. */
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242 prvSetupHardware();
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244 /* Start standard demo/test application flash tasks. See the comments at
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245 the top of this file. The LED flash tasks are always created. The other
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246 tasks are only created if mainCREATE_SIMPLE_LED_FLASHER_DEMO_ONLY is set to
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247 0 (at the top of this file). See the comments at the top of this file for
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248 more information. */
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249 vStartLEDFlashTasks( mainLED_TASK_PRIORITY );
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251 /* The following function will only create more tasks and timers if
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252 mainCREATE_SIMPLE_LED_FLASHER_DEMO_ONLY is set to 0 (at the top of this
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253 file). See the comments at the top of this file for more information. */
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254 prvOptionallyCreateComprehensveTestApplication();
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256 /* Now all the tasks have been started - start the scheduler. */
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257 vTaskStartScheduler();
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259 /* If all is well then the following line will never be reached. If
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260 execution does reach here, then it is highly probably that the heap size
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261 is too small for the idle and/or timer tasks to be created within
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262 vTaskStartScheduler(). */
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265 /*-----------------------------------------------------------*/
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267 static void prvCheckTask( void *pvParameters )
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269 portTickType xDelayPeriod = mainNO_ERROR_FLASH_PERIOD_MS;
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270 portTickType xLastExecutionTime;
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272 /* Just to stop compiler warnings. */
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273 ( void ) pvParameters;
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275 /* Initialise xLastExecutionTime so the first call to vTaskDelayUntil()
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276 works correctly. */
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277 xLastExecutionTime = xTaskGetTickCount();
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279 /* Cycle for ever, delaying then checking all the other tasks are still
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280 operating without error. If an error is detected then the delay period
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281 is decreased from mainNO_ERROR_FLASH_PERIOD_MS to mainERROR_FLASH_PERIOD_MS so
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282 the on board LED flash rate will increase. NOTE: This task could easily
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283 be replaced by a software timer callback to remove the overhead of having
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288 /* Delay until it is time to execute again. */
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289 vTaskDelayUntil( &xLastExecutionTime, xDelayPeriod );
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291 /* Check all the standard demo application tasks are executing without
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293 if( prvCheckOtherTasksAreStillRunning() != pdPASS )
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295 /* An error has been detected in one of the tasks - flash the LED
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296 at a higher frequency to give visible feedback that something has
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297 gone wrong (it might just be that the loop back connector required
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298 by the comtest tasks has not been fitted). */
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299 xDelayPeriod = mainERROR_FLASH_PERIOD_MS;
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302 /* The toggle rate of the LED depends on how long this task delays for.
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303 An error reduces the delay period and so increases the toggle rate. */
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304 vParTestToggleLED( mainON_BOARD_LED_BIT );
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307 /*-----------------------------------------------------------*/
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309 static long prvCheckOtherTasksAreStillRunning( void )
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311 long lReturn = pdPASS;
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312 unsigned long ulHighFrequencyTimerTaskIterations, ulExpectedIncFrequency_ms;
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314 /* Check all the demo tasks (other than the flash tasks) to ensure
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315 that they are all still running, and that none have detected an error. */
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317 if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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322 if( xAreComTestTasksStillRunning() != pdTRUE )
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327 if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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332 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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337 if ( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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342 if ( xAreGenericQueueTasksStillRunning() != pdTRUE )
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347 if ( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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352 if( prvAreRegTestTasksStillRunning() != pdTRUE )
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357 if( xIsCreateTaskStillRunning() != pdTRUE )
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362 if( xAreTimerDemoTasksStillRunning( mainNO_ERROR_FLASH_PERIOD_MS ) != pdTRUE )
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367 if( xArePollingQueuesStillRunning() != pdTRUE )
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372 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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377 /* Obtain the number of times the task associated with the high frequency
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378 (interrupt nesting) timer test has increment since the check task last
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379 executed, and the frequency at which it is expected to execute in ms. */
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380 ulHighFrequencyTimerTaskIterations = ulInterruptNestingTestGetIterationCount( &ulExpectedIncFrequency_ms );
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381 if( ( ulHighFrequencyTimerTaskIterations < ( ( mainNO_ERROR_FLASH_PERIOD_MS / ulExpectedIncFrequency_ms ) - 1 ) )
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383 ( ulHighFrequencyTimerTaskIterations > ( ( mainNO_ERROR_FLASH_PERIOD_MS / ulExpectedIncFrequency_ms ) +5 ) )
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386 /* Would have expected the high frequency timer task to have
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387 incremented its execution count more times that reported. */
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393 /*-----------------------------------------------------------*/
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395 static void prvSetupHardware( void )
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397 extern void set_cpu_frequency(void);
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399 /* Set-up the PLL. */
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400 set_cpu_frequency();
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402 /* Initialise LED outputs. */
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403 vParTestInitialise();
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405 /*-----------------------------------------------------------*/
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407 void vApplicationMallocFailedHook( void )
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409 /* vApplicationMallocFailedHook() will only be called if
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410 configUSE_MALLOC_FAILED_HOOK is set to 1 in FreeRTOSConfig.h. It is a hook
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411 function that will get called if a call to pvPortMalloc() fails.
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412 pvPortMalloc() is called internally by the kernel whenever a task, queue,
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413 timer or semaphore is created. It is also called by various parts of the
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414 demo application. If heap_1.c or heap_2.c are used, then the size of the
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415 heap available to pvPortMalloc() is defined by configTOTAL_HEAP_SIZE in
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416 FreeRTOSConfig.h, and the xPortGetFreeHeapSize() API function can be used
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417 to query the size of free heap space that remains (although it does not
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418 provide information on how the remaining heap might be fragmented). */
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419 taskDISABLE_INTERRUPTS();
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422 /*-----------------------------------------------------------*/
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424 void vApplicationTickHook( void )
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426 #if mainCREATE_SIMPLE_LED_FLASHER_DEMO_ONLY != 1
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428 /* vApplicationTickHook() will only be called if configUSE_TICK_HOOK is set
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429 to 1 in FreeRTOSConfig.h. It is a hook function that will get called during
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430 each FreeRTOS tick interrupt. Note that vApplicationTickHook() is called
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431 from an interrupt context. */
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433 /* Call the periodic timer test, which tests the timer API functions that
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434 can be called from an ISR. */
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435 vTimerPeriodicISRTests();
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437 #endif /* mainCREATE_SIMPLE_LED_FLASHER_DEMO_ONLY */
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439 /*-----------------------------------------------------------*/
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441 void vApplicationIdleHook( void )
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443 /* vApplicationIdleHook() will only be called if configUSE_IDLE_HOOK is set
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444 to 1 in FreeRTOSConfig.h. It will be called on each iteration of the idle
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445 task. It is essential that code added to this hook function never attempts
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446 to block in any way (for example, call xQueueReceive() with a block time
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447 specified, or call vTaskDelay()). If the application makes use of the
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448 vTaskDelete() API function (as this demo application does) then it is also
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449 important that vApplicationIdleHook() is permitted to return to its calling
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450 function, because it is the responsibility of the idle task to clean up
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451 memory allocated by the kernel to any task that has since been deleted. */
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453 /*-----------------------------------------------------------*/
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455 static portBASE_TYPE prvAreRegTestTasksStillRunning( void )
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457 static unsigned long ulPreviousRegisterTest1Count = 0;
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458 static unsigned long ulPreviousRegisterTest2Count = 0;
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459 portBASE_TYPE xReturn = pdPASS;
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461 /* Check to see if the Counts have changed since the last check. */
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462 if( ulRegisterTest1Count == ulPreviousRegisterTest1Count )
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467 if( ulRegisterTest2Count == ulPreviousRegisterTest2Count )
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472 /* Remember the current count for the next time this function is called. */
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473 ulPreviousRegisterTest1Count = ulRegisterTest1Count;
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474 ulPreviousRegisterTest2Count = ulRegisterTest2Count;
\r
478 /*-----------------------------------------------------------*/
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480 static void prvOptionallyCreateComprehensveTestApplication( void )
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482 #if mainCREATE_SIMPLE_LED_FLASHER_DEMO_ONLY == 0
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484 vStartIntegerMathTasks( tskIDLE_PRIORITY );
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485 vStartDynamicPriorityTasks();
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486 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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487 vCreateBlockTimeTasks();
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488 vStartCountingSemaphoreTasks();
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489 vStartGenericQueueTasks( tskIDLE_PRIORITY );
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490 vStartRecursiveMutexTasks();
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491 vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
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492 vSetupInterruptNestingTest();
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493 vStartTimerDemoTask( mainTIMER_TEST_PERIOD );
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494 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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495 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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497 /* Create the register test tasks, as described at the top of this file. */
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498 xTaskCreate( prvRegisterCheckTask1, ( signed char * ) "Reg 1", configMINIMAL_STACK_SIZE, &ulRegisterTest1Count, tskIDLE_PRIORITY, NULL );
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499 xTaskCreate( prvRegisterCheckTask2, ( signed char * ) "Reg 2", configMINIMAL_STACK_SIZE, &ulRegisterTest2Count, tskIDLE_PRIORITY, NULL );
\r
501 /* Start the check task - which is defined in this file. */
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502 xTaskCreate( prvCheckTask, ( signed char * ) "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
\r
504 /* This task has to be created last as it keeps account of the number of tasks
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505 it expects to see running. */
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506 vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
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508 #else /* mainCREATE_SIMPLE_LED_FLASHER_DEMO_ONLY */
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510 /* Just to prevent compiler warnings when the configuration options are
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511 set such that these static functions are not used. */
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512 ( void ) prvCheckTask;
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513 ( void ) prvRegisterCheckTask1;
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514 ( void ) prvRegisterCheckTask2;
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516 #endif /* mainCREATE_SIMPLE_LED_FLASHER_DEMO_ONLY */
\r
518 /*-----------------------------------------------------------*/
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520 static void prvRegisterCheckTask1( void *pvParameters )
\r
522 /* Make space on the stack for the parameter and a counter. */
\r
523 __asm volatile( " sub.a %sp, 4 \n"
\r
524 " st.a [%sp], %a4 \n"
\r
526 " st.w [%sp]4, %d15 \n" );
\r
528 /* Change all of the Context sensitive registers (except SP and RA). */
\r
552 " mov.a %a12, 12 \n"
\r
553 " mov.a %a13, 13 \n"
\r
554 " mov.a %a14, 14 \n" );
\r
556 /* Check the values of the registers. */
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557 __asm( " _task1_loop: \n" \
\r
558 " eq %d1, %d0, 0 \n" \
\r
559 " jne %d1, 1, _task1_error_loop \n" \
\r
560 " eq %d1, %d1, 1 \n" \
\r
561 " jne %d1, 1, _task1_error_loop \n" \
\r
562 " eq %d1, %d2, 2 \n" \
\r
563 " jne %d1, 1, _task1_error_loop \n" \
\r
564 " eq %d1, %d3, 3 \n" \
\r
565 " jne %d1, 1, _task1_error_loop \n" \
\r
566 " eq %d1, %d4, 4 \n" \
\r
567 " jne %d1, 1, _task1_error_loop \n" \
\r
568 " eq %d1, %d5, 5 \n" \
\r
569 " jne %d1, 1, _task1_error_loop \n" \
\r
570 " eq %d1, %d6, 6 \n" \
\r
571 " jne %d1, 1, _task1_error_loop \n" \
\r
572 " eq %d1, %d7, 7 \n" \
\r
573 " jne %d1, 1, _task1_error_loop \n" \
\r
574 " eq %d1, %d8, 8 \n" \
\r
575 " jne %d1, 1, _task1_error_loop \n" \
\r
576 " eq %d1, %d9, 9 \n" \
\r
577 " jne %d1, 1, _task1_error_loop \n" \
\r
578 " eq %d1, %d10, 10 \n" \
\r
579 " jne %d1, 1, _task1_error_loop \n" \
\r
580 " eq %d1, %d11, 11 \n" \
\r
581 " jne %d1, 1, _task1_error_loop \n" \
\r
582 " eq %d1, %d12, 12 \n" \
\r
583 " jne %d1, 1, _task1_error_loop \n" \
\r
584 " eq %d1, %d13, 13 \n" \
\r
585 " jne %d1, 1, _task1_error_loop \n" \
\r
586 " eq %d1, %d14, 14 \n" \
\r
587 " jne %d1, 1, _task1_error_loop \n" \
\r
588 " eq %d1, %d15, 15 \n" \
\r
589 " jne %d1, 1, _task1_error_loop \n" \
\r
590 " mov.a %a15, 2 \n" \
\r
591 " jne.a %a15, %a2, _task1_error_loop \n" \
\r
592 " mov.a %a15, 3 \n" \
\r
593 " jne.a %a15, %a3, _task1_error_loop \n" \
\r
594 " mov.a %a15, 4 \n" \
\r
595 " jne.a %a15, %a4, _task1_error_loop \n" \
\r
596 " mov.a %a15, 5 \n" \
\r
597 " jne.a %a15, %a5, _task1_error_loop \n" \
\r
598 " mov.a %a15, 6 \n" \
\r
599 " jne.a %a15, %a6, _task1_error_loop \n" \
\r
600 " mov.a %a15, 7 \n" \
\r
601 " jne.a %a15, %a7, _task1_error_loop \n" \
\r
602 " mov.a %a15, 12 \n" \
\r
603 " jne.a %a15, %a12, _task1_error_loop \n" \
\r
604 " mov.a %a15, 13 \n" \
\r
605 " jne.a %a15, %a13, _task1_error_loop \n" \
\r
606 " mov.a %a15, 14 \n" \
\r
607 " jne.a %a15, %a14, _task1_error_loop \n" \
\r
608 " j _task1_skip_error_loop \n" \
\r
609 "_task1_error_loop: \n" /* Hitting this error loop will stop the counter incrementing, allowing the check task to recognise an error. */ \
\r
611 " j _task1_error_loop \n" \
\r
612 "_task1_skip_error_loop: \n" );
\r
614 /* Load the parameter address from the stack and modify the value. */
\r
616 " ld.w %d1, [%sp]4 \n" \
\r
618 " st.w [%sp]4, %d1 \n" \
\r
619 " ld.a %a15, [%sp] \n" \
\r
620 " st.w [%a15], %d1 \n" \
\r
621 " j _task1_loop \n" );
\r
623 /* The parameter is used but in the assembly. */
\r
624 (void)pvParameters;
\r
626 /*-----------------------------------------------------------*/
\r
628 static void prvRegisterCheckTask2( void *pvParameters )
\r
630 /* Make space on the stack for the parameter and a counter. */
\r
631 __asm volatile( " sub.a %sp, 4 \n" \
\r
632 " st.a [%sp], %a4 \n" \
\r
633 " mov %d15, 0 \n" \
\r
634 " st.w [%sp]4, %d15 \n" );
\r
636 /* Change all of the Context sensitive registers (except SP and RA). */
\r
637 __asm volatile( " mov %d0, 7 \n" \
\r
645 " mov %d8, 15 \n" \
\r
646 " mov %d9, 14 \n" \
\r
647 " mov %d10, 13 \n" \
\r
648 " mov %d11, 12 \n" \
\r
649 " mov %d12, 11 \n" \
\r
650 " mov %d13, 10 \n" \
\r
651 " mov %d14, 9 \n" \
\r
652 " mov %d15, 8 \n" \
\r
653 " mov.a %a2, 14 \n" \
\r
654 " mov.a %a3, 13 \n" \
\r
655 " mov.a %a4, 12 \n" \
\r
656 " mov.a %a5, 7 \n" \
\r
657 " mov.a %a6, 6 \n" \
\r
658 " mov.a %a7, 5 \n" \
\r
659 " mov.a %a12, 4 \n" \
\r
660 " mov.a %a13, 3 \n" \
\r
661 " mov.a %a14, 2 \n" );
\r
663 /* Check the values of the registers. */
\r
664 __asm volatile( " _task2_loop: \n" \
\r
666 " eq %d1, %d0, 7 \n" \
\r
667 " jne %d1, 1, _task2_error_loop \n" \
\r
668 " eq %d1, %d1, 1 \n" \
\r
669 " jne %d1, 1, _task2_error_loop \n" \
\r
670 " eq %d1, %d2, 5 \n" \
\r
671 " jne %d1, 1, _task2_error_loop \n" \
\r
672 " eq %d1, %d3, 4 \n" \
\r
673 " jne %d1, 1, _task2_error_loop \n" \
\r
674 " eq %d1, %d4, 3 \n" \
\r
675 " jne %d1, 1, _task2_error_loop \n" \
\r
676 " eq %d1, %d5, 2 \n" \
\r
677 " jne %d1, 1, _task2_error_loop \n" \
\r
678 " eq %d1, %d6, 1 \n" \
\r
679 " jne %d1, 1, _task2_error_loop \n" \
\r
680 " eq %d1, %d7, 0 \n" \
\r
681 " jne %d1, 1, _task2_error_loop \n" \
\r
682 " eq %d1, %d8, 15 \n" \
\r
683 " jne %d1, 1, _task2_error_loop \n" \
\r
684 " eq %d1, %d9, 14 \n" \
\r
685 " jne %d1, 1, _task2_error_loop \n" \
\r
686 " eq %d1, %d10, 13 \n" \
\r
687 " jne %d1, 1, _task2_error_loop \n" \
\r
688 " eq %d1, %d11, 12 \n" \
\r
689 " jne %d1, 1, _task2_error_loop \n" \
\r
690 " eq %d1, %d12, 11 \n" \
\r
691 " jne %d1, 1, _task2_error_loop \n" \
\r
692 " eq %d1, %d13, 10 \n" \
\r
693 " jne %d1, 1, _task2_error_loop \n" \
\r
694 " eq %d1, %d14, 9 \n" \
\r
695 " jne %d1, 1, _task2_error_loop \n" \
\r
696 " eq %d1, %d15, 8 \n" \
\r
697 " jne %d1, 1, _task2_error_loop \n" \
\r
698 " mov.a %a15, 14 \n" \
\r
699 " jne.a %a15, %a2, _task2_error_loop \n" \
\r
700 " mov.a %a15, 13 \n" \
\r
701 " jne.a %a15, %a3, _task2_error_loop \n" \
\r
702 " mov.a %a15, 12 \n" \
\r
703 " jne.a %a15, %a4, _task2_error_loop \n" \
\r
704 " mov.a %a15, 7 \n" \
\r
705 " jne.a %a15, %a5, _task2_error_loop \n" \
\r
706 " mov.a %a15, 6 \n" \
\r
707 " jne.a %a15, %a6, _task2_error_loop \n" \
\r
708 " mov.a %a15, 5 \n" \
\r
709 " jne.a %a15, %a7, _task2_error_loop \n" \
\r
710 " mov.a %a15, 4 \n" \
\r
711 " jne.a %a15, %a12, _task2_error_loop \n" \
\r
712 " mov.a %a15, 3 \n" \
\r
713 " jne.a %a15, %a13, _task2_error_loop \n" \
\r
714 " mov.a %a15, 2 \n" \
\r
715 " jne.a %a15, %a14, _task2_error_loop \n" \
\r
716 " j _task2_skip_error_loop \n" \
\r
717 "_task2_error_loop: \n" /* Hitting this error loop will stop the counter incrementing, allowing the check task to recognise an error. */ \
\r
719 " j _task2_error_loop \n" \
\r
720 "_task2_skip_error_loop: \n" );
\r
722 /* Load the parameter address from the stack and modify the value. */
\r
723 __asm volatile( " ld.w %d1, [%sp]4 \n" \
\r
724 " add %d1, %d1, 1 \n" \
\r
725 " st.w [%sp]4, %d1 \n" \
\r
726 " ld.a %a15, [%sp] \n" \
\r
727 " st.w [%a15], %d1 \n" \
\r
728 " j _task2_loop \n" );
\r
730 /* The parameter is used but in the assembly. */
\r
731 (void)pvParameters;
\r
734 /*-----------------------------------------------------------*/
\r
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