/* | |
FreeRTOS V6.1.0 - Copyright (C) 2010 Real Time Engineers Ltd. | |
*************************************************************************** | |
* * | |
* If you are: * | |
* * | |
* + New to FreeRTOS, * | |
* + Wanting to learn FreeRTOS or multitasking in general quickly * | |
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* * | |
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* * | |
* "Using the FreeRTOS Real Time Kernel - a Practical Guide" * | |
* http://www.FreeRTOS.org/Documentation * | |
* * | |
* A pdf reference manual is also available. Both are usually delivered * | |
* to your inbox within 20 minutes to two hours when purchased between 8am * | |
* and 8pm GMT (although please allow up to 24 hours in case of * | |
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*************************************************************************** | |
This file is part of the FreeRTOS distribution. | |
FreeRTOS is free software; you can redistribute it and/or modify it under | |
the terms of the GNU General Public License (version 2) as published by the | |
Free Software Foundation AND MODIFIED BY the FreeRTOS exception. | |
***NOTE*** The exception to the GPL is included to allow you to distribute | |
a combined work that includes FreeRTOS without being obliged to provide the | |
source code for proprietary components outside of the FreeRTOS kernel. | |
FreeRTOS is distributed in the hope that it will be useful, but WITHOUT | |
ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or | |
FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for | |
more details. You should have received a copy of the GNU General Public | |
License and the FreeRTOS license exception along with FreeRTOS; if not it | |
can be viewed here: http://www.freertos.org/a00114.html and also obtained | |
by writing to Richard Barry, contact details for whom are available on the | |
FreeRTOS WEB site. | |
1 tab == 4 spaces! | |
http://www.FreeRTOS.org - Documentation, latest information, license and | |
contact details. | |
http://www.SafeRTOS.com - A version that is certified for use in safety | |
critical systems. | |
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licensing and training services. | |
*/ | |
#include "FreeRTOS.h" | |
#include "task.h" | |
/* | |
* Two test tasks that fill the CPU registers with known values before | |
* continuously looping round checking that each register still contains its | |
* expected value. Both tasks use a separate set of values, with an incorrect | |
* value being found at any time being indicative of an error in the context | |
* switch mechanism. One of the tasks uses a yield instruction to increase the | |
* test coverage. The nature of these tasks necessitates that they are written | |
* in assembly code. | |
*/ | |
static void vRegTest1( void *pvParameters ); | |
static void vRegTest2( void *pvParameters ); | |
/* | |
* A task that tests the management of the Interrupt Controller (IC) during a | |
* context switch. The state of the IC current mask level must be maintained | |
* across context switches. Also, yields must be able to be performed when the | |
* interrupt controller mask is not zero. This task tests both these | |
* requirements. | |
*/ | |
static void prvICCheck1Task( void *pvParameters ); | |
/* Counters used to ensure the tasks are still running. */ | |
static volatile unsigned long ulRegTest1Counter = 0UL, ulRegTest2Counter = 0UL, ulICTestCounter = 0UL; | |
/* Handle to the task that checks the interrupt controller behaviour. This is | |
used by the traceTASK_SWITCHED_OUT() macro, which is defined in | |
FreeRTOSConfig.h and can be removed - it is just for the purpose of this test. */ | |
xTaskHandle xICTestTask = NULL; | |
/* Variable that gets set to pdTRUE by traceTASK_SWITCHED_OUT each time | |
is switched out. */ | |
volatile unsigned long ulTaskSwitchedOut; | |
/*-----------------------------------------------------------*/ | |
void vStartRegTestTasks( void ) | |
{ | |
xTaskCreate( vRegTest1, ( signed char * ) "RTest1", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL ); | |
xTaskCreate( vRegTest2, ( signed char * ) "RTest1", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL ); | |
xTaskCreate( prvICCheck1Task, ( signed char * ) "ICCheck", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, &xICTestTask ); | |
} | |
/*-----------------------------------------------------------*/ | |
static void vRegTest1( void *pvParameters ) | |
{ | |
__asm volatile | |
( | |
" mov r2, #0x02 \n" /* Fill the registers with known values, r0 is always 0 and r1 is the stack pointer. */ | |
" mov r3, #0x03 \n" | |
" mov r4, #0x04 \n" | |
" mov r5, #0x05 \n" | |
" mov r6, #0x06 \n" | |
" mov r7, #0x07 \n" | |
" mov r8, #0x08 \n" | |
" mov r9, #0x09 \n" | |
" mov r10, #0x0a \n" | |
" mov r11, #0x0b \n" | |
" mov r12, #0x0c \n" | |
" mov r13, #0x0d \n" | |
" mov r14, #0x0e \n" | |
" mov r15, #0x0f \n" | |
" \n" | |
"reg_check_loop_1: \n" | |
" trap #31 \n" | |
" cmp r2, #0x02 \n" /* Check that each register still contains the expected value, jump to an infinite loop if an error is found. */ | |
" bne.s reg_check_error_1 \n" | |
" cmp r3, #0x03 \n" | |
" bne.s reg_check_error_1 \n" | |
" cmp r4, #0x04 \n" | |
" bne.s reg_check_error_1 \n" | |
" cmp r5, #0x05 \n" | |
" bne.s reg_check_error_1 \n" | |
" cmp r6, #0x06 \n" | |
" bne.s reg_check_error_1 \n" | |
" cmp r7, #0x07 \n" | |
" bne.s reg_check_error_1 \n" | |
" cmp r8, #0x08 \n" | |
" bne.s reg_check_error_1 \n" | |
" cmp r9, #0x09 \n" | |
" bne.s reg_check_error_1 \n" | |
" cmp r10, #0x0a \n" | |
" bne.s reg_check_error_1 \n" | |
" cmp r11, #0x0b \n" | |
" bne.s reg_check_error_1 \n" | |
" cmp r12, #0x0c \n" | |
" bne.s reg_check_error_1 \n" | |
" cmp r13, #0x0d \n" | |
" bne.s reg_check_error_1 \n" | |
" cmp r14, #0x0e \n" | |
" bne.s reg_check_error_1 \n" | |
" cmp r15, #0x0f \n" | |
" bne.s reg_check_error_1 \n" | |
" \n" | |
" ld r2, [r0]+short(ulRegTest1Counter) \n" /* Increment the loop counter to show that this task is still running error free. */ | |
" add r2, #1 \n" | |
" st r2, [r0]+short(ulRegTest1Counter) \n" | |
" mov r2, #0x02 \n" | |
" \n" | |
" bra.s reg_check_loop_1 \n" /* Do it all again. */ | |
" \n" | |
"reg_check_error_1: \n" | |
"bra.s . \n" | |
); | |
} | |
/*-----------------------------------------------------------*/ | |
static void vRegTest2( void *pvParameters ) | |
{ | |
__asm volatile | |
( | |
" mov r2, #0x12 \n" /* Fill the registers with known values, r0 is always 0 and r1 is the stack pointer. */ | |
" mov r3, #0x13 \n" | |
" mov r4, #0x14 \n" | |
" mov r5, #0x15 \n" | |
" mov r6, #0x16 \n" | |
" mov r7, #0x17 \n" | |
" mov r8, #0x18 \n" | |
" mov r9, #0x19 \n" | |
" mov r10, #0x1a \n" | |
" mov r11, #0x1b \n" | |
" mov r12, #0x1c \n" | |
" mov r13, #0x1d \n" | |
" mov r14, #0x1e \n" | |
" mov r15, #0x1f \n" | |
" \n" | |
"reg_check_loop_2: \n" | |
" cmp r2, #0x12 \n" /* Check that each register still contains the expected value, jump to an infinite loop if an error is found. */ | |
" bne.s reg_check_error_2 \n" | |
" cmp r3, #0x13 \n" | |
" bne.s reg_check_error_2 \n" | |
" cmp r4, #0x14 \n" | |
" bne.s reg_check_error_2 \n" | |
" cmp r5, #0x15 \n" | |
" bne.s reg_check_error_2 \n" | |
" cmp r6, #0x16 \n" | |
" bne.s reg_check_error_2 \n" | |
" cmp r7, #0x17 \n" | |
" bne.s reg_check_error_2 \n" | |
" cmp r8, #0x18 \n" | |
" bne.s reg_check_error_2 \n" | |
" cmp r9, #0x19 \n" | |
" bne.s reg_check_error_2 \n" | |
" cmp r10, #0x1a \n" | |
" bne.s reg_check_error_2 \n" | |
" cmp r11, #0x1b \n" | |
" bne.s reg_check_error_2 \n" | |
" cmp r12, #0x1c \n" | |
" bne.s reg_check_error_2 \n" | |
" cmp r13, #0x1d \n" | |
" bne.s reg_check_error_2 \n" | |
" cmp r14, #0x1e \n" | |
" bne.s reg_check_error_2 \n" | |
" cmp r15, #0x1f \n" | |
" bne.s reg_check_error_2 \n" | |
" \n" | |
" ld r2, [r0]+short(ulRegTest2Counter) \n" /* Increment the loop counter to show that this task is still running error free. */ | |
" add r2, #1 \n" | |
" st r2, [r0]+short(ulRegTest2Counter) \n" | |
" mov r2, #0x12 \n" | |
" \n" | |
" bra.s reg_check_loop_2 \n" /* Do it all again. */ | |
" \n" | |
"reg_check_error_2: \n" | |
"bra.s . \n" | |
); | |
} | |
/*-----------------------------------------------------------*/ | |
static void prvICCheck1Task( void *pvParameters ) | |
{ | |
long lICCheckStatus = pdPASS; | |
for( ;; ) | |
{ | |
/* At this point the interrupt mask should be zero. */ | |
if( ic->cpl != 0 ) | |
{ | |
lICCheckStatus = pdFAIL; | |
} | |
/* If we yield here, it should still be 0 when the task next runs. | |
ulTaskSwitchedOut is just used to check that a switch does actually | |
happen. */ | |
ulTaskSwitchedOut = pdFALSE; | |
taskYIELD(); | |
if( ( ulTaskSwitchedOut != pdTRUE ) || ( ic->cpl != 0 ) ) | |
{ | |
lICCheckStatus = pdFAIL; | |
} | |
/* Set the interrupt mask to portSYSTEM_INTERRUPT_PRIORITY_LEVEL + 1, | |
before checking it is as expected. */ | |
taskENTER_CRITICAL(); | |
if( ic->cpl != ( portSYSTEM_INTERRUPT_PRIORITY_LEVEL + 1 ) ) | |
{ | |
lICCheckStatus = pdFAIL; | |
} | |
/* If we yield here, it should still be | |
portSYSTEM_INTERRUPT_PRIORITY_LEVEL + 10 when the task next runs. */ | |
ulTaskSwitchedOut = pdFALSE; | |
taskYIELD(); | |
if( ( ulTaskSwitchedOut != pdTRUE ) || ( ic->cpl != ( portSYSTEM_INTERRUPT_PRIORITY_LEVEL + 1 ) ) ) | |
{ | |
lICCheckStatus = pdFAIL; | |
} | |
/* Return the interrupt mask to its default state. */ | |
taskEXIT_CRITICAL(); | |
/* Just increment a loop counter so the check task knows if this task | |
is still running or not. */ | |
if( lICCheckStatus == pdPASS ) | |
{ | |
ulICTestCounter++; | |
} | |
} | |
} | |
/*-----------------------------------------------------------*/ | |
portBASE_TYPE xAreRegTestTasksStillRunning( void ) | |
{ | |
static unsigned long ulLastCounter1 = 0UL, ulLastCounter2 = 0UL, ulLastICTestCounter = 0UL; | |
long lReturn; | |
/* Check that both loop counters are still incrementing, indicating that | |
both reg test tasks are still running error free. */ | |
if( ulLastCounter1 == ulRegTest1Counter ) | |
{ | |
lReturn = pdFAIL; | |
} | |
else if( ulLastCounter2 == ulRegTest2Counter ) | |
{ | |
lReturn = pdFAIL; | |
} | |
else if( ulLastICTestCounter == ulICTestCounter ) | |
{ | |
lReturn = pdFAIL; | |
} | |
else | |
{ | |
lReturn = pdPASS; | |
} | |
ulLastCounter1 = ulRegTest1Counter; | |
ulLastCounter2 = ulRegTest2Counter; | |
ulLastICTestCounter = ulICTestCounter; | |
return lReturn; | |
} | |