/* | |
FreeRTOS V7.3.0 - Copyright (C) 2012 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 | |
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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. | |
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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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*************************************************************************** | |
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and contact details. | |
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including FreeRTOS+Trace - an indispensable productivity tool. | |
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the SafeRTOS brand: http://www.SafeRTOS.com. | |
*/ | |
/* Scheduler includes. */ | |
#include "FreeRTOS.h" | |
#include "task.h" | |
/* | |
* The register test task as described in the comments at the top of main-full.c. | |
*/ | |
void vRegisterTest1( void *pvParameters ); | |
void vRegisterTest2( void *pvParameters ); | |
/* Variables that are incremented on each iteration of the reg test tasks - | |
provided the tasks have not reported any errors. The check timer inspects these | |
variables to ensure they are still incrementing as expected. If a variable | |
stops incrementing then it is likely that its associate task has stalled or | |
detected an error. */ | |
volatile unsigned long ulRegTest1CycleCount = 0UL, ulRegTest2CycleCount = 0UL; | |
/*-----------------------------------------------------------*/ | |
void vRegisterTest1( void *pvParameters ) | |
{ | |
/* This task uses an infinite loop that is implemented in the assembly | |
code. | |
First fill the relevant registers with known values. */ | |
asm volatile ( " addi r3, r0, 3 \n\t" \ | |
" addi r4, r0, 4 \n\t" \ | |
" addi r6, r0, 6 \n\t" \ | |
" addi r7, r0, 7 \n\t" \ | |
" addi r8, r0, 8 \n\t" \ | |
" addi r9, r0, 9 \n\t" \ | |
" addi r10, r0, 10 \n\t" \ | |
" addi r11, r0, 11 \n\t" \ | |
" addi r12, r0, 12 \n\t" \ | |
" addi r16, r0, 16 \n\t" \ | |
" addi r19, r0, 19 \n\t" \ | |
" addi r20, r0, 20 \n\t" \ | |
" addi r21, r0, 21 \n\t" \ | |
" addi r22, r0, 22 \n\t" \ | |
" addi r23, r0, 23 \n\t" \ | |
" addi r24, r0, 24 \n\t" \ | |
" addi r25, r0, 25 \n\t" \ | |
" addi r26, r0, 26 \n\t" \ | |
" addi r27, r0, 27 \n\t" \ | |
" addi r28, r0, 28 \n\t" \ | |
" addi r29, r0, 29 \n\t" \ | |
" addi r30, r0, 30 \n\t" \ | |
" addi r31, r0, 31 \n\t" | |
); | |
/* Now test the register values to ensure they contain the same value that | |
was written to them above. This task will get preempted frequently so | |
other tasks are likely to have executed since the register values were | |
written. If any register contains an unexpected value then the task will | |
branch to Error_Loop_1, which in turn prevents it from incrementing its | |
loop counter, enabling the check timer to determine that all is not as it | |
should be. */ | |
asm volatile ( "Loop_Start_1: \n\t" \ | |
" xori r18, r3, 3 \n\t" \ | |
" bnei r18, Error_Loop_1 \n\t" \ | |
" xori r18, r4, 4 \n\t" \ | |
" bnei r18, Error_Loop_1 \n\t" \ | |
" xori r18, r6, 6 \n\t" \ | |
" bnei r18, Error_Loop_1 \n\t" \ | |
" xori r18, r7, 7 \n\t" \ | |
" bnei r18, Error_Loop_1 \n\t" \ | |
" xori r18, r8, 8 \n\t" \ | |
" bnei r18, Error_Loop_1 \n\t" \ | |
" xori r18, r9, 9 \n\t" \ | |
" bnei r18, Error_Loop_1 \n\t" \ | |
" xori r18, r10, 10 \n\t" \ | |
" bnei r18, Error_Loop_1 \n\t" \ | |
" xori r18, r11, 11 \n\t" \ | |
" bnei r18, Error_Loop_1 \n\t" \ | |
" xori r18, r12, 12 \n\t" \ | |
" bnei r18, Error_Loop_1 \n\t" \ | |
" xori r18, r16, 16 \n\t" \ | |
" bnei r18, Error_Loop_1 \n\t" \ | |
" xori r18, r19, 19 \n\t" \ | |
" bnei r18, Error_Loop_1 \n\t" \ | |
" xori r18, r20, 20 \n\t" \ | |
" bnei r18, Error_Loop_1 \n\t" \ | |
" xori r18, r21, 21 \n\t" \ | |
" bnei r18, Error_Loop_1 \n\t" \ | |
" xori r18, r22, 22 \n\t" \ | |
" bnei r18, Error_Loop_1 \n\t" \ | |
" xori r18, r23, 23 \n\t" \ | |
" bnei r18, Error_Loop_1 \n\t" \ | |
" xori r18, r24, 24 \n\t" \ | |
" bnei r18, Error_Loop_1 \n\t" \ | |
" xori r18, r25, 25 \n\t" \ | |
" bnei r18, Error_Loop_1 \n\t" \ | |
" xori r18, r26, 26 \n\t" \ | |
" bnei r18, Error_Loop_1 \n\t" \ | |
" xori r18, r27, 27 \n\t" \ | |
" bnei r18, Error_Loop_1 \n\t" \ | |
" xori r18, r28, 28 \n\t" \ | |
" bnei r18, Error_Loop_1 \n\t" \ | |
" xori r18, r29, 29 \n\t" \ | |
" bnei r18, Error_Loop_1 \n\t" \ | |
" xori r18, r30, 30 \n\t" \ | |
" bnei r18, Error_Loop_1 \n\t" \ | |
" xori r18, r31, 31 \n\t" \ | |
" bnei r18, Error_Loop_1 \n\t" | |
); | |
/* If this task has not branched to the error loop, then everything is ok, | |
and the check variable can be incremented to indicate that this task | |
is still running. Then, brach back to the top to check the register | |
contents again. */ | |
asm volatile ( " lwi r18, r0, ulRegTest1CycleCount \n\t" \ | |
" addik r18, r18, 1 \n\t" \ | |
" swi r18, r0, ulRegTest1CycleCount \n\t" \ | |
" \n\t" \ | |
" bri Loop_Start_1 " | |
); | |
/* The test function will branch here if it discovers an error. This part | |
of the code just sits in a NULL loop, which prevents the check variable | |
incrementing any further to allow the check timer to recognize that this | |
test has failed. */ | |
asm volatile ( "Error_Loop_1: \n\t" \ | |
" bri 0 \n\t" \ | |
" nop \n\t" \ | |
); | |
( void ) pvParameters; | |
} | |
/*-----------------------------------------------------------*/ | |
void vRegisterTest2( void *pvParameters ) | |
{ | |
/* This task uses an infinite loop that is implemented in the assembly | |
code. | |
First fill the registers with known values. */ | |
asm volatile ( " addi r16, r0, 1016 \n\t" \ | |
" addi r19, r0, 1019 \n\t" \ | |
" addi r20, r0, 1020 \n\t" \ | |
" addi r21, r0, 1021 \n\t" \ | |
" addi r22, r0, 1022 \n\t" \ | |
" addi r23, r0, 1023 \n\t" \ | |
" addi r24, r0, 1024 \n\t" \ | |
" addi r25, r0, 1025 \n\t" \ | |
" addi r26, r0, 1026 \n\t" \ | |
" addi r27, r0, 1027 \n\t" \ | |
" addi r28, r0, 1028 \n\t" \ | |
" addi r29, r0, 1029 \n\t" \ | |
" addi r30, r0, 1030 \n\t" \ | |
" addi r31, r0, 1031 \n\t" \ | |
" " \ | |
"Loop_Start_2: " | |
); | |
/* Unlike vRegisterTest1, vRegisterTest2 performs a yield. This increases | |
the test coverage, but does mean volatile registers need re-loading with | |
their exepcted values. */ | |
taskYIELD(); | |
/* taskYIELD() could have changed temporaries - set them back to those | |
expected by the reg test task. */ | |
asm volatile ( " addi r3, r0, 103 \n\t" \ | |
" addi r4, r0, 104 \n\t" \ | |
" addi r6, r0, 106 \n\t" \ | |
" addi r7, r0, 107 \n\t" \ | |
" addi r8, r0, 108 \n\t" \ | |
" addi r9, r0, 109 \n\t" \ | |
" addi r10, r0, 1010 \n\t" \ | |
" addi r11, r0, 1011 \n\t" \ | |
" addi r12, r0, 1012 \n\t" \ | |
); | |
/* Now test the register values to ensure they contain the same value that | |
was written to them above. This task will get preempted frequently so | |
other tasks are likely to have executed since the register values were | |
written. */ | |
asm volatile ( " xori r18, r3, 103 \n\t" \ | |
" bnei r18, Error_Loop_2 \n\t" \ | |
" xori r18, r4, 104 \n\t" \ | |
" bnei r18, Error_Loop_2 \n\t" \ | |
" xori r18, r6, 106 \n\t" \ | |
" bnei r18, Error_Loop_2 \n\t" \ | |
" xori r18, r7, 107 \n\t" \ | |
" bnei r18, Error_Loop_2 \n\t" \ | |
" xori r18, r8, 108 \n\t" \ | |
" bnei r18, Error_Loop_2 \n\t" \ | |
" xori r18, r9, 109 \n\t" \ | |
" bnei r18, Error_Loop_2 \n\t" \ | |
" xori r18, r10, 1010 \n\t" \ | |
" bnei r18, Error_Loop_2 \n\t" \ | |
" xori r18, r11, 1011 \n\t" \ | |
" bnei r18, Error_Loop_2 \n\t" \ | |
" xori r18, r12, 1012 \n\t" \ | |
" bnei r18, Error_Loop_2 \n\t" \ | |
" xori r18, r16, 1016 \n\t" \ | |
" bnei r18, Error_Loop_2 \n\t" \ | |
" xori r18, r19, 1019 \n\t" \ | |
" bnei r18, Error_Loop_2 \n\t" \ | |
" xori r18, r20, 1020 \n\t" \ | |
" bnei r18, Error_Loop_2 \n\t" \ | |
" xori r18, r21, 1021 \n\t" \ | |
" bnei r18, Error_Loop_2 \n\t" \ | |
" xori r18, r22, 1022 \n\t" \ | |
" bnei r18, Error_Loop_2 \n\t" \ | |
" xori r18, r23, 1023 \n\t" \ | |
" bnei r18, Error_Loop_2 \n\t" \ | |
" xori r18, r24, 1024 \n\t" \ | |
" bnei r18, Error_Loop_2 \n\t" \ | |
" xori r18, r25, 1025 \n\t" \ | |
" bnei r18, Error_Loop_2 \n\t" \ | |
" xori r18, r26, 1026 \n\t" \ | |
" bnei r18, Error_Loop_2 \n\t" \ | |
" xori r18, r27, 1027 \n\t" \ | |
" bnei r18, Error_Loop_2 \n\t" \ | |
" xori r18, r28, 1028 \n\t" \ | |
" bnei r18, Error_Loop_2 \n\t" \ | |
" xori r18, r29, 1029 \n\t" \ | |
" bnei r18, Error_Loop_2 \n\t" \ | |
" xori r18, r30, 1030 \n\t" \ | |
" bnei r18, Error_Loop_2 \n\t" \ | |
" xori r18, r31, 1031 \n\t" \ | |
" bnei r18, Error_Loop_2 \n\t" | |
); | |
/* If this task has not branched to the error loop, then everything is ok, | |
and the check variable should be incremented to indicate that this task | |
is still running. Then, brach back to the top to check the registers | |
again. */ | |
asm volatile ( " lwi r18, r0, ulRegTest2CycleCount \n\t" \ | |
" addik r18, r18, 1 \n\t" \ | |
" swi r18, r0, ulRegTest2CycleCount \n\t" \ | |
" \n\t" \ | |
" bri Loop_Start_2 " | |
); | |
/* The test function will branch here if it discovers an error. This part | |
of the code just sits in a NULL loop, which prevents the check variable | |
incrementing any further to allow the check timer to recognize that this | |
test has failed. */ | |
asm volatile ( "Error_Loop_2: \n\t" \ | |
" bri 0 \n\t" \ | |
" nop \n\t" \ | |
); | |
( void ) pvParameters; | |
} | |