RTOS/TMDX654IDKEVM: Problem with running SMP

/*
 * Copyright (c) 2015, Texas Instruments Incorporated
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 *
 * *  Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 *
 * *  Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in the
 *    documentation and/or other materials provided with the distribution.
 *
 * *  Neither the name of Texas Instruments Incorporated nor the names of
 *    its contributors may be used to endorse or promote products derived
 *    from this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
 * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
 * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
 * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
 * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
 * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
 * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
 * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
 * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
 * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */
/*
 *  ======== TaskSetPriTest1.c ========
 *  Test Task_setPri() API
 *
 *  This test case creates 2 threads that are bound to core 0 (tsk0) and
 *  core 1 (tsk1) respectively. tsk1 is trying to set its own priority to
 *  '1' in an infinite loop while tsk0 is trying to set tsk1's priority to -1.
 *
 *  With older releases of BIOS, it is possible that both tsk0 and tsk1
 *  make Task_setPri() calls simultaneously and tsk0's setPri() instance
 *  acquires the scheduler lock first. tsk0 will then update tsk1's priority
 *  to '-1' (inactive) and release the scheduler so tsk1 can be preempted.
 *  However, since tsk1 is already in the process of acquiring a lock,
 *  it will not run the scheduler until it is finished updating the
 *  task priority to '1'. Therefore, tsk1 will exit Task_setPri() with a
 *  priority of '1' and never actually block.
 */

#include <xdc/std.h>

#include <xdc/runtime/System.h>
#include <xdc/runtime/Types.h>
#include <xdc/runtime/Timestamp.h>

#include <ti/sysbios/BIOS.h>
#include <ti/sysbios/hal/Hwi.h>
#include <ti/sysbios/knl/Clock.h>
#include <ti/sysbios/knl/Swi.h>
#include <ti/sysbios/knl/Task.h>
#include <ti/sysbios/knl/Semaphore.h>

#include <xdc/cfg/global.h>

Void tsk0_func(UArg arg0, UArg arg1);
Void tsk1_func(UArg arg0, UArg arg1);

/* Global Variables */
Task_Handle tsk0, tsk1;

volatile Bool exitFlag = FALSE;

/*
 *  ======== main ========
 */
Int main(Int argc, Char* argv[])
{
    Task_Params taskParams;

    Task_Params_init(&taskParams);

    taskParams.priority = 2;
    taskParams.affinity = 0;
    tsk0 = Task_create(tsk0_func, &taskParams, NULL);

    taskParams.priority = 2;
    taskParams.affinity = 1;
    tsk1 = Task_create(tsk1_func, &taskParams, NULL);

    BIOS_start();

    return (0);
}

/*
 *  ======== idle_func ========
 */
Void idle_func()
{
    while (!exitFlag);

    BIOS_exit(0);
}

/*
 *  ======== tsk0_func ========
 */
Void tsk0_func(UArg arg0, UArg arg1)
{
    UInt i = 0;

    while (Task_getMode(tsk1) != Task_Mode_RUNNING);

    while (1) {
        i++;
        Task_setPri(tsk1, -1);
        if (i != 10000) {
            Task_setPri(tsk1, 2);
        }
        else {
            break;
        }
    }

    if ((Task_getPri(tsk1) != -1) || (Task_getMode(tsk1) != Task_Mode_INACTIVE)) {
        System_printf("Task_setPri() failed to make tsk1 inactive.\n");
    }
    else {
        Task_delete(&tsk1);
        System_printf("Test Passed!\n");
    }

    exitFlag = TRUE;
}

/*
 *  ======== tsk1_func ========
 */
Void tsk1_func(UArg arg0, UArg arg1)
{
    while (1) {
        Task_setPri(Task_self(), 2);
    }
}