| /* | |
| FreeRTOS V7.4.0 - Copyright (C) 2013 Real Time Engineers Ltd. | |
| FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME. PLEASE VISIT | |
| http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. | |
| *************************************************************************** | |
| * * | |
| * FreeRTOS tutorial books are available in pdf and paperback. * | |
| * Complete, revised, and edited pdf reference manuals are also * | |
| * available. * | |
| * * | |
| * Purchasing FreeRTOS documentation will not only help you, by * | |
| * ensuring you get running as quickly as possible and with an * | |
| * in-depth knowledge of how to use FreeRTOS, it will also help * | |
| * the FreeRTOS project to continue with its mission of providing * | |
| * professional grade, cross platform, de facto standard solutions * | |
| * for microcontrollers - completely free of charge! * | |
| * * | |
| * >>> See http://www.FreeRTOS.org/Documentation for details. <<< * | |
| * * | |
| * Thank you for using FreeRTOS, and thank you for your support! * | |
| * * | |
| *************************************************************************** | |
| 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. 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 itcan be | |
| viewed here: http://www.freertos.org/a00114.html and also obtained by | |
| writing to Real Time Engineers Ltd., contact details for whom are available | |
| on the FreeRTOS WEB site. | |
| 1 tab == 4 spaces! | |
| *************************************************************************** | |
| * * | |
| * Having a problem? Start by reading the FAQ "My application does * | |
| * not run, what could be wrong?" * | |
| * * | |
| * http://www.FreeRTOS.org/FAQHelp.html * | |
| * * | |
| *************************************************************************** | |
| http://www.FreeRTOS.org - Documentation, books, training, latest versions, | |
| license and Real Time Engineers Ltd. contact details. | |
| http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, | |
| including FreeRTOS+Trace - an indispensable productivity tool, and our new | |
| fully thread aware and reentrant UDP/IP stack. | |
| http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High | |
| Integrity Systems, who sell the code with commercial support, | |
| indemnification and middleware, under the OpenRTOS brand. | |
| 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. | |
| */ | |
| #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; | |
| } | |