/* | |
FreeRTOS V7.5.3 - Copyright (C) 2013 Real Time Engineers Ltd. | |
All rights reserved | |
VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. | |
*************************************************************************** | |
* * | |
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* robust, strictly quality controlled, supported, and cross * | |
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* project by purchasing a FreeRTOS tutorial book, reference * | |
* manual, or both from: http://www.FreeRTOS.org/Documentation * | |
* * | |
* Thank you! * | |
* * | |
*************************************************************************** | |
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 from the following | |
link: http://www.freertos.org/a00114.html | |
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*************************************************************************** | |
* * | |
* Having a problem? Start by reading the FAQ "My application does * | |
* not run, what could be wrong?" * | |
* * | |
* http://www.FreeRTOS.org/FAQHelp.html * | |
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*************************************************************************** | |
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, | |
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mission critical applications that require provable dependability. | |
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*/ | |
#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, ( signed char * ) "RTest1", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL ); | |
xTaskCreate( vRegTest2, ( signed char * ) "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; | |
} |