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418 lines
14 KiB
C
418 lines
14 KiB
C
/*
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* FreeRTOS Kernel V10.1.0
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* Copyright (C) 2017 Amazon.com, Inc. or its affiliates. All Rights Reserved.
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy of
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* this software and associated documentation files (the "Software"), to deal in
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* the Software without restriction, including without limitation the rights to
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* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
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* the Software, and to permit persons to whom the Software is furnished to do so,
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* subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in all
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* copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
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* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
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* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
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* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
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* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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*
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* http://www.FreeRTOS.org
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* http://aws.amazon.com/freertos
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*
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* 1 tab == 4 spaces!
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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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* 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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* "Web server" - Very basic demonstration of the uIP stack. The WEB server
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* simply generates a page that shows the current state of all the tasks within
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* the system, including the high water mark of each task stack. The high water
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* mark is displayed as the amount of stack that has never been used, so the
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* closer the value is to zero the closer the task has come to overflowing its
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* stack. The IP address and net mask are set within FreeRTOSConfig.h. Sub
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* pages display some TCP/IP status information and permit LED3 to be turned on
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* and off using a check box.
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*
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* Tick hook function that implements a "Check" function - This is executed
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* every 5 seconds from the tick hook function. It checks to ensure that all
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* the standard demo tasks are still operational and running without error.
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* The system status (pass/fail) is then displayed underneith the task table on
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* the served WEB pages.
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*
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* "Reg test" tasks - These fill the registers with known values, then check
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* that each register still contains its expected value. Each task uses
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* different values. The tasks run with very low priority so get preempted very
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* frequently. A register containing an unexpected value is indicative of an
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* error in the context switching mechanism.
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*
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*/
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/* Standard includes. */
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#include <stdio.h>
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/* Scheduler includes. */
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#include "FreeRTOS.h"
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#include "task.h"
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#include "queue.h"
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#include "semphr.h"
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/* Demo app includes. */
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#include "BlockQ.h"
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#include "death.h"
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#include "flash.h"
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#include "partest.h"
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#include "GenQTest.h"
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#include "QPeek.h"
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#include "recmutex.h"
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/*-----------------------------------------------------------*/
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/* ComTest constants - there is no free LED for the comtest tasks. */
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#define mainCOM_TEST_BAUD_RATE ( ( unsigned long ) 19200 )
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#define mainCOM_TEST_LED ( 5 )
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/* Task priorities. */
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#define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
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#define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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#define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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#define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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#define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
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#define mainINTEGER_TASK_PRIORITY ( tskIDLE_PRIORITY )
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#define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )
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#define mainWEB_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
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/* WEB server requires enough stack for the string handling functions. */
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#define mainBASIC_WEB_STACK_SIZE ( configMINIMAL_STACK_SIZE * 2 )
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/*
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* Configure the hardware for the demo.
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*/
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static void prvSetupHardware( void );
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/*
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* Implements the 'check' function as described at the top of this file.
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*/
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static void prvCheckFunction( void );
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/*
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* Implement the 'Reg test' functionality as described at the top of this file.
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*/
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static void vRegTest1Task( void *pvParameters );
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static void vRegTest2Task( void *pvParameters );
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/*
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* The task that handles the uIP stack. All TCP/IP processing is performed in
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* this task.
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*/
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extern void vuIP_Task( void *pvParameters );
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/*-----------------------------------------------------------*/
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/* Counters used to detect errors within the reg test tasks. */
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static volatile unsigned long ulRegTest1Counter = 0x11111111, ulRegTest2Counter = 0x22222222;
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/* Flag that latches any errors detected in the system. */
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unsigned long ulCheckErrors = 0;
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/*-----------------------------------------------------------*/
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int main( void )
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{
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extern void vBasicWEBServer( void *pv );
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/* Setup the hardware ready for this demo. */
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prvSetupHardware();
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xTaskCreate( vuIP_Task, "uIP", mainBASIC_WEB_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY - 1, NULL );
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/* Start the standard demo tasks. */
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vStartLEDFlashTasks( tskIDLE_PRIORITY );
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vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
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vStartQueuePeekTasks();
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vStartRecursiveMutexTasks();
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vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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/* Start the reg test tasks - defined in this file. */
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xTaskCreate( vRegTest1Task, "Reg1", configMINIMAL_STACK_SIZE, ( void * ) &ulRegTest1Counter, tskIDLE_PRIORITY, NULL );
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xTaskCreate( vRegTest2Task, "Reg2", configMINIMAL_STACK_SIZE, ( void * ) &ulRegTest2Counter, tskIDLE_PRIORITY, NULL );
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/* Start the scheduler. */
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vTaskStartScheduler();
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/* Will only get here if there was insufficient memory to create the idle
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task. */
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for( ;; )
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{
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}
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}
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/*-----------------------------------------------------------*/
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void vApplicationTickHook( void )
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{
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static unsigned long ulExecutionCount = 0, ulLastRegTest1Count = 0, ulLastRegTest2Count = 0;
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const unsigned long ulExecutionRate = 5000 / portTICK_PERIOD_MS;
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/* Increment the count of how many times the tick hook has been called. */
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ulExecutionCount++;
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/* Is it time to perform the check again? */
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if( ulExecutionCount >= ulExecutionRate )
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{
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/* Reset the execution count so this function is called again in 5
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seconds time. */
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ulExecutionCount = 0;
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/* Has an error been found in any task? */
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if( xAreGenericQueueTasksStillRunning() != pdTRUE )
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{
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ulCheckErrors |= 0x01UL;
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}
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if( xAreQueuePeekTasksStillRunning() != pdTRUE )
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{
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ulCheckErrors |= 0x02UL;
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}
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if( xAreBlockingQueuesStillRunning() != pdTRUE )
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{
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ulCheckErrors |= 0x04UL;
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}
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if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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{
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ulCheckErrors |= 0x200UL;
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}
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if( ulLastRegTest1Count == ulRegTest1Counter )
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{
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ulCheckErrors |= 0x1000UL;
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}
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if( ulLastRegTest2Count == ulRegTest2Counter )
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{
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ulCheckErrors |= 0x1000UL;
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}
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ulLastRegTest1Count = ulRegTest1Counter;
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ulLastRegTest2Count = ulRegTest2Counter;
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}
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}
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/*-----------------------------------------------------------*/
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static void prvSetupHardware( void )
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{
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/* Disable the watchdog, STOP and WAIT modes. */
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SOPT1 = 0;
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/* --- Setup clock to use external 25MHz source. --- */
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/* Extal and xtal pin ON. */
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PTDPF1_D4 = 0x03;
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PTDPF1_D5 = 0x03;
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/* Switch from FEI to FBE (FLL bypassed external)
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enable external clock source */
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MCGC2 = MCGC2_ERCLKEN_MASK /* Activate external reference clock */
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| MCGC2_EREFS_MASK /* Because crystal is being used */
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| MCGC2_RANGE_MASK; /* High range */
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/* Select clock mode and clear IREFs. */
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MCGC1 = (0x02 << 6 ) /* CLKS = 10 -> external reference clock. */
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| (0x04 << 3 ) /* RDIV = 2^4 -> 25MHz/16 = 1.5625 MHz */
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| MCGC1_IRCLKEN_MASK; /* IRCLK to RTC enabled */
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/* Wait for Reference and Clock status bits to update. */
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while( MCGSC_IREFST | ( MCGSC_CLKST != 0x02 ) )
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{
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/* Nothing to do here. */
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}
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/* Switch from FBE to PBE (PLL bypassed internal) mode. */
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MCGC3 = 0x08 /* Set PLL multi 50MHz. */
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| MCGC3_PLLS_MASK; /* Select PLL. */
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/* Wait for PLL status and lock bits to update. */
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while( !MCGSC_PLLST | !MCGSC_LOCK )
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{
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/* Nothing to do here. */
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}
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/* Now in PBE Mode, finally switch from PBE to PEE (PLL enabled external
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mode). */
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MCGC1_CLKS = 0b00; /* PLL clock to system (MCGOUT) */
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/* Wait for the clock status bits to update. */
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while( MCGSC_CLKST != 0x03 )
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{
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/* Nothing to do here. */
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}
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/* Setup the IO for the LED outputs. */
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vParTestInitialise();
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}
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/*-----------------------------------------------------------*/
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void vApplicationStackOverflowHook( TaskHandle_t pxTask, char *pcTaskName )
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{
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/* This will get called if a stack overflow is detected during the context
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switch. Set configCHECK_FOR_STACK_OVERFLOWS to 2 to also check for stack
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problems within nested interrupts, but only do this for debug purposes as
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it will increase the context switch time. */
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( void ) pxTask;
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( void ) pcTaskName;
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for( ;; )
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{
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}
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}
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/*-----------------------------------------------------------*/
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static void vRegTest1Task( void *pvParameters )
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{
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/* Just to remove compiler warnings. */
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( void ) pvParameters;
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/* Set all the registers to known values, then check that each retains its
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expected value - as described at the top of this file. If an error is
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found then the loop counter will no longer be incremented allowing the check
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task to recognise the error. */
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asm volatile ( "reg_test_1_start: \n\t"
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" moveq #1, d0 \n\t"
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" moveq #2, d1 \n\t"
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" moveq #3, d2 \n\t"
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" moveq #4, d3 \n\t"
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" moveq #5, d4 \n\t"
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" moveq #6, d5 \n\t"
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" moveq #7, d6 \n\t"
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" moveq #8, d7 \n\t"
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" move #9, a0 \n\t"
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" move #10, a1 \n\t"
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" move #11, a2 \n\t"
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" move #12, a3 \n\t"
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" move #13, a4 \n\t"
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" move #15, a6 \n\t"
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" \n\t"
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" cmpi.l #1, d0 \n\t"
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" bne reg_test_1_error \n\t"
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" cmpi.l #2, d1 \n\t"
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" bne reg_test_1_error \n\t"
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" cmpi.l #3, d2 \n\t"
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" bne reg_test_1_error \n\t"
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" cmpi.l #4, d3 \n\t"
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" bne reg_test_1_error \n\t"
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" cmpi.l #5, d4 \n\t"
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" bne reg_test_1_error \n\t"
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" cmpi.l #6, d5 \n\t"
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" bne reg_test_1_error \n\t"
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" cmpi.l #7, d6 \n\t"
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" bne reg_test_1_error \n\t"
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" cmpi.l #8, d7 \n\t"
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" bne reg_test_1_error \n\t"
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" move a0, d0 \n\t"
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" cmpi.l #9, d0 \n\t"
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" bne reg_test_1_error \n\t"
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" move a1, d0 \n\t"
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" cmpi.l #10, d0 \n\t"
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" bne reg_test_1_error \n\t"
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" move a2, d0 \n\t"
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" cmpi.l #11, d0 \n\t"
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" bne reg_test_1_error \n\t"
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" move a3, d0 \n\t"
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" cmpi.l #12, d0 \n\t"
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" bne reg_test_1_error \n\t"
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" move a4, d0 \n\t"
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" cmpi.l #13, d0 \n\t"
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" bne reg_test_1_error \n\t"
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" move a6, d0 \n\t"
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" cmpi.l #15, d0 \n\t"
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" bne reg_test_1_error \n\t"
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" move ulRegTest1Counter, d0 \n\t"
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" addq #1, d0 \n\t"
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" move d0, ulRegTest1Counter \n\t"
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" bra reg_test_1_start \n\t"
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"reg_test_1_error: \n\t"
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" bra reg_test_1_error \n\t"
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);
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}
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/*-----------------------------------------------------------*/
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static void vRegTest2Task( void *pvParameters )
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{
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/* Just to remove compiler warnings. */
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( void ) pvParameters;
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/* Set all the registers to known values, then check that each retains its
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expected value - as described at the top of this file. If an error is
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found then the loop counter will no longer be incremented allowing the check
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task to recognise the error. */
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asm volatile ( "reg_test_2_start: \n\t"
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" moveq #10, d0 \n\t"
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" moveq #20, d1 \n\t"
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" moveq #30, d2 \n\t"
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" moveq #40, d3 \n\t"
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" moveq #50, d4 \n\t"
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" moveq #60, d5 \n\t"
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" moveq #70, d6 \n\t"
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" moveq #80, d7 \n\t"
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" move #90, a0 \n\t"
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" move #100, a1 \n\t"
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" move #110, a2 \n\t"
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" move #120, a3 \n\t"
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" move #130, a4 \n\t"
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" move #150, a6 \n\t"
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" \n\t"
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" cmpi.l #10, d0 \n\t"
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" bne reg_test_2_error \n\t"
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" cmpi.l #20, d1 \n\t"
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" bne reg_test_2_error \n\t"
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" cmpi.l #30, d2 \n\t"
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" bne reg_test_2_error \n\t"
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" cmpi.l #40, d3 \n\t"
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" bne reg_test_2_error \n\t"
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" cmpi.l #50, d4 \n\t"
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" bne reg_test_2_error \n\t"
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" cmpi.l #60, d5 \n\t"
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" bne reg_test_2_error \n\t"
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" cmpi.l #70, d6 \n\t"
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" bne reg_test_2_error \n\t"
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" cmpi.l #80, d7 \n\t"
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" bne reg_test_2_error \n\t"
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" move a0, d0 \n\t"
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" cmpi.l #90, d0 \n\t"
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" bne reg_test_2_error \n\t"
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" move a1, d0 \n\t"
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" cmpi.l #100, d0 \n\t"
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" bne reg_test_2_error \n\t"
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" move a2, d0 \n\t"
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" cmpi.l #110, d0 \n\t"
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" bne reg_test_2_error \n\t"
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" move a3, d0 \n\t"
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" cmpi.l #120, d0 \n\t"
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" bne reg_test_2_error \n\t"
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" move a4, d0 \n\t"
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" cmpi.l #130, d0 \n\t"
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" bne reg_test_2_error \n\t"
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" move a6, d0 \n\t"
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" cmpi.l #150, d0 \n\t"
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" bne reg_test_2_error \n\t"
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" move ulRegTest1Counter, d0 \n\t"
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" addq #1, d0 \n\t"
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" move d0, ulRegTest2Counter \n\t"
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" bra reg_test_2_start \n\t"
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"reg_test_2_error: \n\t"
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" bra reg_test_2_error \n\t"
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);
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}
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/*-----------------------------------------------------------*/
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