| /* | |
| FreeRTOS V8.2.3 - Copyright (C) 2015 Real Time Engineers Ltd. | |
| All rights reserved | |
| VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. | |
| 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 modification 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. Full license text is available on the following | |
| link: http://www.freertos.org/a00114.html | |
| *************************************************************************** | |
| * * | |
| * FreeRTOS provides completely free yet professionally developed, * | |
| * robust, strictly quality controlled, supported, and cross * | |
| * platform software that is more than just the market leader, it * | |
| * is the industry's de facto standard. * | |
| * * | |
| * Help yourself get started quickly while simultaneously helping * | |
| * to support the FreeRTOS project by purchasing a FreeRTOS * | |
| * tutorial book, reference manual, or both: * | |
| * http://www.FreeRTOS.org/Documentation * | |
| * * | |
| *************************************************************************** | |
| http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading | |
| the FAQ page "My application does not run, what could be wrong?". Have you | |
| defined configASSERT()? | |
| http://www.FreeRTOS.org/support - In return for receiving this top quality | |
| embedded software for free we request you assist our global community by | |
| participating in the support forum. | |
| http://www.FreeRTOS.org/training - Investing in training allows your team to | |
| be as productive as possible as early as possible. Now you can receive | |
| FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers | |
| Ltd, and the world's leading authority on the world's leading RTOS. | |
| http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, | |
| including FreeRTOS+Trace - an indispensable productivity tool, a DOS | |
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| http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate. | |
| Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS. | |
| http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High | |
| Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS | |
| licenses offer ticketed support, indemnification and commercial middleware. | |
| http://www.SafeRTOS.com - High Integrity Systems also provide a safety | |
| engineered and independently SIL3 certified version for use in safety and | |
| mission critical applications that require provable dependability. | |
| 1 tab == 4 spaces! | |
| */ | |
| #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 ); | |
| /* Counters used to ensure the tasks are still running. */ | |
| static volatile unsigned long ulRegTest1Counter = 0UL, ulRegTest2Counter = 0UL; | |
| /*-----------------------------------------------------------*/ | |
| void vStartRegTestTasks( void ) | |
| { | |
| xTaskCreate( vRegTest1, "RTest1", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL ); | |
| xTaskCreate( vRegTest2, "RTest1", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL ); | |
| } | |
| /*-----------------------------------------------------------*/ | |
| 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" | |
| ); | |
| } | |
| /*-----------------------------------------------------------*/ | |
| portBASE_TYPE xAreRegTestTasksStillRunning( void ) | |
| { | |
| static unsigned long ulLastCounter1 = 0UL, ulLastCounter2 = 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 | |
| { | |
| lReturn = pdPASS; | |
| } | |
| ulLastCounter1 = ulRegTest1Counter; | |
| ulLastCounter2 = ulRegTest2Counter; | |
| return lReturn; | |
| } |