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532 lines
20 KiB
C
532 lines
20 KiB
C
/*
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FreeRTOS V7.6.0 - Copyright (C) 2013 Real Time Engineers Ltd.
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All rights reserved
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VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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***************************************************************************
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* *
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* FreeRTOS provides completely free yet professionally developed, *
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* robust, strictly quality controlled, supported, and cross *
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* platform software that has become a de facto standard. *
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* *
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* Help yourself get started quickly and support the FreeRTOS *
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* project by purchasing a FreeRTOS tutorial book, reference *
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* manual, or both from: http://www.FreeRTOS.org/Documentation *
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* *
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* Thank you! *
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* *
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***************************************************************************
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This file is part of the FreeRTOS distribution.
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FreeRTOS is free software; you can redistribute it and/or modify it under
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the terms of the GNU General Public License (version 2) as published by the
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Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
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>>! NOTE: The modification to the GPL is included to allow you to distribute
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>>! a combined work that includes FreeRTOS without being obliged to provide
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>>! the source code for proprietary components outside of the FreeRTOS
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>>! kernel.
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FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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FOR A PARTICULAR PURPOSE. Full license text is available from the following
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link: http://www.freertos.org/a00114.html
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1 tab == 4 spaces!
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***************************************************************************
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* *
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* Having a problem? Start by reading the FAQ "My application does *
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* not run, what could be wrong?" *
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* *
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* http://www.FreeRTOS.org/FAQHelp.html *
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* *
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***************************************************************************
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http://www.FreeRTOS.org - Documentation, books, training, latest versions,
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license and Real Time Engineers Ltd. contact details.
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http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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compatible FAT file system, and our tiny thread aware UDP/IP stack.
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http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS
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licenses offer ticketed support, indemnification and middleware.
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http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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engineered and independently SIL3 certified version for use in safety and
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mission critical applications that require provable dependability.
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1 tab == 4 spaces!
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*/
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/* ****************************************************************************
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* This project includes a lot of tasks and tests and is therefore complex.
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* If you would prefer a much simpler project to get started with then select
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* the 'low power' demo by setting configCREATE_LOW_POWER_DEMO to 1 in
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* FreeRTOSConfig.h. When configCREATE_LOW_POWER_DEMO is set to 1 main() will
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* call main_low_power() instead of main_full().
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* ****************************************************************************
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*
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* Creates all the demo application tasks, then starts the scheduler. The web
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* documentation provides more details of the standard demo application tasks,
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* which provide no particular functionality but do provide a good example of
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* how to use the FreeRTOS API.
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*
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* In addition to the standard demo tasks, the following tasks and tests are
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* defined and/or created within this file:
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*
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* "Reg test" tasks - These fill the registers with known values, then
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* repeatedly check that each register still contains its expected value for
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* the lifetime of the tasks. Each task uses different values. The tasks run
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* with very low priority so get preempted very frequently. A check variable
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* is incremented on each iteration of the test loop. A register containing an
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* unexpected value is indicative of an error in the context switching
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* mechanism and will result in a branch to a null loop - which in turn will
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* prevent the check variable from incrementing any further and allow the check
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* timer (described below) to determine that an error has occurred. The nature
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* of the reg test tasks necessitates that they are written in assembly code.
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*
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* "Check Timer" and Callback Function - The check timer period is initially
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* set to three seconds. The check timer callback function checks that all the
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* standard demo tasks are not only still executing, but are executing without
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* reporting any errors. If the check timer discovers that a task has either
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* stalled, or reported an error, then it changes its own period from the
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* initial three seconds, to just 200ms. The check timer callback function
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* also toggles LED 0 each time it is called. This provides a visual
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* indication of the system status: If the LED toggles every three seconds,
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* then no issues have been discovered. If the LED toggles every 200ms, then
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* an issue has been discovered with at least one task.
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*
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* *NOTE 1* The CPU must be in Supervisor mode when the scheduler is started.
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* The PowerON_Reset_PC() supplied in resetprg.c with this demo has
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* Change_PSW_PM_to_UserMode() commented out to ensure this is the case.
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*/
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/* Standard includes. */
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#include <string.h>
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/* Hardware specific includes. */
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#include "iodefine.h"
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/* Kernel includes. */
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#include "FreeRTOS.h"
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#include "task.h"
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#include "timers.h"
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#include "semphr.h"
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/* Standard demo includes. */
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#include "partest.h"
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#include "death.h"
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#include "blocktim.h"
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#include "GenQTest.h"
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#include "recmutex.h"
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/* The code in this file is only built when configCREATE_LOW_POWER_DEMO is set
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to 0, otherwise the code in main_low_power.c is used. */
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#if configCREATE_LOW_POWER_DEMO == 0
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/* Values that are passed into the reg test tasks using the task parameter.
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The tasks check that the values are passed in correctly. */
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#define mainREG_TEST_1_PARAMETER ( 0x12121212UL )
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#define mainREG_TEST_2_PARAMETER ( 0x12345678UL )
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/* Priorities at which the standard demo tasks are created. */
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#define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )
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#define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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/* The LED toggled by the check timer. */
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#define mainCHECK_LED ( 0 )
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/* The period at which the check timer will expire, in ms, provided no errors
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have been reported by any of the standard demo tasks. ms are converted to the
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equivalent in ticks using the portTICK_RATE_MS constant. */
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#define mainCHECK_TIMER_PERIOD_MS ( 3000UL / portTICK_RATE_MS )
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/* The period at which the check timer will expire, in ms, if an error has been
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reported in one of the standard demo tasks. ms are converted to the equivalent
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in ticks using the portTICK_RATE_MS constant. */
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#define mainERROR_CHECK_TIMER_PERIOD_MS ( 200UL / portTICK_RATE_MS )
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/* A block time of zero simple means "Don't Block". */
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#define mainDONT_BLOCK ( 0UL )
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/*
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* The reg test tasks as described at the top of this file.
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*/
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static void prvRegTest1Task( void *pvParameters );
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static void prvRegTest2Task( void *pvParameters );
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/*
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* The actual implementation of the reg test functionality, which, because of
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* the direct register access, have to be in assembly.
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*/
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static void prvRegTest1Implementation( void ) __attribute__(( naked ));
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static void prvRegTest2Implementation( void ) __attribute__(( naked ));
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/*
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* The check timer callback function, as described at the top of this file.
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*/
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static void prvCheckTimerCallback( xTimerHandle xTimer );
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/*-----------------------------------------------------------*/
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/* Variables that are incremented on each iteration of the reg test tasks -
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provided the tasks have not reported any errors. The check timer inspects these
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variables to ensure they are still incrementing as expected. If a variable
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stops incrementing then it is likely that its associated task has stalled. */
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unsigned long ulRegTest1CycleCount = 0UL, ulRegTest2CycleCount = 0UL;
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/* The check timer. This uses prvCheckTimerCallback() as its callback
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function. */
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static xTimerHandle xCheckTimer = NULL;
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/*-----------------------------------------------------------*/
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void main_full( void )
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{
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/* Start the reg test tasks which test the context switching mechanism. */
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xTaskCreate( prvRegTest1Task, "RegTst1", configMINIMAL_STACK_SIZE, ( void * ) mainREG_TEST_1_PARAMETER, tskIDLE_PRIORITY, NULL );
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xTaskCreate( prvRegTest2Task, "RegTst2", configMINIMAL_STACK_SIZE, ( void * ) mainREG_TEST_2_PARAMETER, tskIDLE_PRIORITY, NULL );
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/* Create the standard demo tasks. */
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vCreateBlockTimeTasks();
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vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
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vStartRecursiveMutexTasks();
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/* The suicide tasks must be created last as they need to know how many
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tasks were running prior to their creation in order to ascertain whether
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or not the correct/expected number of tasks are running at any given time. */
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vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
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/* Create the software timer that performs the 'check' functionality,
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as described at the top of this file. */
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xCheckTimer = xTimerCreate( "CheckTimer",/* A text name, purely to help debugging. */
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( mainCHECK_TIMER_PERIOD_MS ), /* The timer period, in this case 5000ms (5s). */
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pdTRUE, /* This is an auto-reload timer, so xAutoReload is set to pdTRUE. */
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( void * ) 0, /* The ID is not used, so can be set to anything. */
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prvCheckTimerCallback /* The callback function that inspects the status of all the other tasks. */
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);
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configASSERT( xCheckTimer );
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/* Start the check timer. It will actually start when the scheduler is
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started. */
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xTimerStart( xCheckTimer, mainDONT_BLOCK );
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/* Start the tasks running. */
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vTaskStartScheduler();
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/* If all is well execution will never reach here as the scheduler will be
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running. If this null loop is reached then it is likely there was
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insufficient FreeRTOS heap available for the idle task and/or timer task to
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be created. See http://www.freertos.org/a00111.html. */
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for( ;; );
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}
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/*-----------------------------------------------------------*/
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static void prvCheckTimerCallback( xTimerHandle xTimer )
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{
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static long lChangedTimerPeriodAlready = pdFALSE, lErrorStatus = pdPASS;
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static volatile unsigned long ulLastRegTest1CycleCount = 0UL, ulLastRegTest2CycleCount = 0UL;
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/* Remove compiler warnings about unused parameters. */
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( void ) xTimer;
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/* Check the standard demo tasks are running without error. */
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if( xAreGenericQueueTasksStillRunning() != pdTRUE )
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{
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lErrorStatus = pdFAIL;
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}
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else if( xIsCreateTaskStillRunning() != pdTRUE )
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{
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lErrorStatus = pdFAIL;
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}
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else if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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{
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lErrorStatus = pdFAIL;
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}
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else if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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{
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lErrorStatus = pdFAIL;
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}
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/* Check the reg test tasks are still cycling. They will stop incrementing
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their loop counters if they encounter an error. */
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if( ulRegTest1CycleCount == ulLastRegTest1CycleCount )
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{
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lErrorStatus = pdFAIL;
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}
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if( ulRegTest2CycleCount == ulLastRegTest2CycleCount )
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{
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lErrorStatus = pdFAIL;
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}
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/* Remember the loop counter values this time around so they can be checked
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again the next time this callback function executes. */
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ulLastRegTest1CycleCount = ulRegTest1CycleCount;
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ulLastRegTest2CycleCount = ulRegTest2CycleCount;
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/* Toggle the check LED to give an indication of the system status. If
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the LED toggles every three seconds then everything is ok. A faster toggle
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indicates an error. */
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vParTestToggleLED( mainCHECK_LED );
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/* Was an error detected this time through the callback execution? */
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if( lErrorStatus != pdPASS )
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{
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if( lChangedTimerPeriodAlready == pdFALSE )
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{
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lChangedTimerPeriodAlready = pdTRUE;
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/* This call to xTimerChangePeriod() uses a zero block time.
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Functions called from inside of a timer callback function must
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*never* attempt to block. */
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xTimerChangePeriod( xCheckTimer, ( mainERROR_CHECK_TIMER_PERIOD_MS ), mainDONT_BLOCK );
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}
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}
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}
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/*-----------------------------------------------------------*/
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/* This function is explained in the comments at the top of this file. */
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static void prvRegTest1Task( void *pvParameters )
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{
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if( ( ( unsigned long ) pvParameters ) != mainREG_TEST_1_PARAMETER )
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{
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/* The parameter did not contain the expected value. */
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for( ;; )
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{
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/* Stop the tick interrupt so its obvious something has gone wrong. */
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taskDISABLE_INTERRUPTS();
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}
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}
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/* This is an inline asm function that never returns. */
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prvRegTest1Implementation();
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}
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/*-----------------------------------------------------------*/
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/* This function is explained in the comments at the top of this file. */
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static void prvRegTest2Task( void *pvParameters )
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{
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if( ( ( unsigned long ) pvParameters ) != mainREG_TEST_2_PARAMETER )
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{
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/* The parameter did not contain the expected value. */
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for( ;; )
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{
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/* Stop the tick interrupt so its obvious something has gone wrong. */
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taskDISABLE_INTERRUPTS();
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}
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}
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/* This is an inline asm function that never returns. */
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prvRegTest2Implementation();
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}
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/*-----------------------------------------------------------*/
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/* This function is explained in the comments at the top of this file. */
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static void prvRegTest1Implementation( void )
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{
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__asm volatile
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(
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/* Set each register to a known value. */
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" MOV.L #0x33333333, R15 \n\t"
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" MVTACHI R15 \n\t"
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" MOV.L #0x44444444, R15 \n\t"
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" MVTACLO R15 \n\t"
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" MOV.L #1, R1 \n\t"
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" MOV.L #2, R2 \n\t"
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" MOV.L #3, R3 \n\t"
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" MOV.L #4, R4 \n\t"
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" MOV.L #5, R5 \n\t"
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" MOV.L #6, R6 \n\t"
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" MOV.L #7, R7 \n\t"
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" MOV.L #8, R8 \n\t"
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" MOV.L #9, R9 \n\t"
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" MOV.L #10, R10 \n\t"
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" MOV.L #11, R11 \n\t"
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" MOV.L #12, R12 \n\t"
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" MOV.L #13, R13 \n\t"
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" MOV.L #14, R14 \n\t"
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" MOV.L #15, R15 \n\t"
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" \n\t"
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/* Loop, checking each iteration that each register still contains the
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expected value. */
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"TestLoop1: \n\t"
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" \n\t"
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/* Push the registers that are going to get clobbered. */
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" PUSHM R14-R15 \n\t"
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" \n\t"
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/* Increment the loop counter to show this task is still getting CPU
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time. */
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" MOV.L #_ulRegTest1CycleCount, R14 \n\t"
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" MOV.L [ R14 ], R15 \n\t"
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" ADD #1, R15 \n\t"
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" MOV.L R15, [ R14 ] \n\t"
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" \n\t"
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/* Yield to extend the text coverage. Set the bit in the ITU SWINTR
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register. */
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" MOV.L #1, R14 \n\t"
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" MOV.L #0872E0H, R15 \n\t"
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" MOV.B R14, [R15] \n\t"
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" NOP \n\t"
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" NOP \n\t"
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" \n\t"
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/* Check the accumulator value. */
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" MVFACHI R15 \n\t"
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" CMP #0x33333333, R15 \n\t"
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" BNE RegTest2Error \n\t"
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" MVFACMI R15 \n\t"
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" CMP #0x33334444, R15 \n\t"
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" BNE RegTest2Error \n\t"
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" \n\t"
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/* Restore the clobbered registers. */
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" POPM R14-R15 \n\t"
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" \n\t"
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/* Now compare each register to ensure it still contains the value that
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was set before this loop was entered. */
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" CMP #1, R1 \n\t"
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" BNE RegTest1Error \n\t"
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" CMP #2, R2 \n\t"
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" BNE RegTest1Error \n\t"
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" CMP #3, R3 \n\t"
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" BNE RegTest1Error \n\t"
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" CMP #4, R4 \n\t"
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" BNE RegTest1Error \n\t"
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" CMP #5, R5 \n\t"
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" BNE RegTest1Error \n\t"
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" CMP #6, R6 \n\t"
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" BNE RegTest1Error \n\t"
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" CMP #7, R7 \n\t"
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" BNE RegTest1Error \n\t"
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" CMP #8, R8 \n\t"
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" BNE RegTest1Error \n\t"
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" CMP #9, R9 \n\t"
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" BNE RegTest1Error \n\t"
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" CMP #10, R10 \n\t"
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" BNE RegTest1Error \n\t"
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" CMP #11, R11 \n\t"
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" BNE RegTest1Error \n\t"
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" CMP #12, R12 \n\t"
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" BNE RegTest1Error \n\t"
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" CMP #13, R13 \n\t"
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" BNE RegTest1Error \n\t"
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" CMP #14, R14 \n\t"
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" BNE RegTest1Error \n\t"
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" CMP #15, R15 \n\t"
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" BNE RegTest1Error \n\t"
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" \n\t"
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/* All comparisons passed, start a new iteration of this loop. */
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" BRA TestLoop1 \n\t"
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" \n\t"
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/* A compare failed, just loop here so the loop counter stops
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incrementing causing the check timer to indicate the error. */
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"RegTest1Error: \n\t"
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" BRA RegTest1Error "
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);
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}
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/*-----------------------------------------------------------*/
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/* This function is explained in the comments at the top of this file. */
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static void prvRegTest2Implementation( void )
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{
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__asm volatile
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(
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/* Set each register to a known value. */
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" MOV.L #0x11111111, R15 \n\t"
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" MVTACHI R15 \n\t"
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" MOV.L #0x22222222, R15 \n\t"
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" MVTACLO R15 \n\t"
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" MOV.L #100, R1 \n\t"
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" MOV.L #200, R2 \n\t"
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" MOV.L #300, R3 \n\t"
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" MOV.L #400, R4 \n\t"
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" MOV.L #500, R5 \n\t"
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" MOV.L #600, R6 \n\t"
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" MOV.L #700, R7 \n\t"
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" MOV.L #800, R8 \n\t"
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" MOV.L #900, R9 \n\t"
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" MOV.L #1000, R10 \n\t"
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" MOV.L #1001, R11 \n\t"
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" MOV.L #1002, R12 \n\t"
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" MOV.L #1003, R13 \n\t"
|
|
" MOV.L #1004, R14 \n\t"
|
|
" MOV.L #1005, R15 \n\t"
|
|
" \n\t"
|
|
/* Loop, checking each iteration that each register still contains the
|
|
expected value. */
|
|
"TestLoop2: \n\t"
|
|
" \n\t"
|
|
/* Push the registers that are going to get clobbered. */
|
|
" PUSHM R14-R15 \n\t"
|
|
" \n\t"
|
|
/* Increment the loop counter to show this task is still getting CPU
|
|
time. */
|
|
" MOV.L #_ulRegTest2CycleCount, R14 \n\t"
|
|
" MOV.L [ R14 ], R15 \n\t"
|
|
" ADD #1, R15 \n\t"
|
|
" MOV.L R15, [ R14 ] \n\t"
|
|
" \n\t"
|
|
/* Check the accumulator value. */
|
|
" MVFACHI R15 \n\t"
|
|
" CMP #0x11111111, R15 \n\t"
|
|
" BNE RegTest2Error \n\t"
|
|
" MVFACMI R15 \n\t"
|
|
" CMP #0x11112222, R15 \n\t"
|
|
" BNE RegTest2Error \n\t"
|
|
" \n\t"
|
|
/* Restore the clobbered registers. */
|
|
" POPM R14-R15 \n\t"
|
|
" \n\t"
|
|
/* Now compare each register to ensure it still contains the value that
|
|
was set before this loop was entered. */
|
|
" CMP #100, R1 \n\t"
|
|
" BNE RegTest2Error \n\t"
|
|
" CMP #200, R2 \n\t"
|
|
" BNE RegTest2Error \n\t"
|
|
" CMP #300, R3 \n\t"
|
|
" BNE RegTest2Error \n\t"
|
|
" CMP #400, R4 \n\t"
|
|
" BNE RegTest2Error \n\t"
|
|
" CMP #500, R5 \n\t"
|
|
" BNE RegTest2Error \n\t"
|
|
" CMP #600, R6 \n\t"
|
|
" BNE RegTest2Error \n\t"
|
|
" CMP #700, R7 \n\t"
|
|
" BNE RegTest2Error \n\t"
|
|
" CMP #800, R8 \n\t"
|
|
" BNE RegTest2Error \n\t"
|
|
" CMP #900, R9 \n\t"
|
|
" BNE RegTest2Error \n\t"
|
|
" CMP #1000, R10 \n\t"
|
|
" BNE RegTest2Error \n\t"
|
|
" CMP #1001, R11 \n\t"
|
|
" BNE RegTest2Error \n\t"
|
|
" CMP #1002, R12 \n\t"
|
|
" BNE RegTest2Error \n\t"
|
|
" CMP #1003, R13 \n\t"
|
|
" BNE RegTest2Error \n\t"
|
|
" CMP #1004, R14 \n\t"
|
|
" BNE RegTest2Error \n\t"
|
|
" CMP #1005, R15 \n\t"
|
|
" BNE RegTest2Error \n\t"
|
|
" \n\t"
|
|
/* All comparisons passed, start a new iteration of this loop. */
|
|
" BRA TestLoop2 \n\t"
|
|
" \n\t"
|
|
/* A compare failed, just loop here so the loop counter stops
|
|
incrementing causing the check timer to indicate the error. */
|
|
"RegTest2Error: \n\t"
|
|
" BRA RegTest2Error "
|
|
);
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
#endif /* configCREATE_LOW_POWER_DEMO */
|