Add reg tests to nRF9160 projects (#1001)

Signed-off-by: Gaurav Aggarwal <aggarg@amazon.com>

8 files changed, 1072 insertions, 132 deletions

diff --git a/FreeRTOS/Demo/CORTEX_MPU_M33F_NTZ_Nordic_NRF9160_SES/FreeRTOSDemo.emProject b/FreeRTOS/Demo/CORTEX_MPU_M33F_NTZ_Nordic_NRF9160_SES/FreeRTOSDemo.emProject
index a8bda3674..0eae156f3 100644
--- a/FreeRTOS/Demo/CORTEX_MPU_M33F_NTZ_Nordic_NRF9160_SES/FreeRTOSDemo.emProject
+++ b/FreeRTOS/Demo/CORTEX_MPU_M33F_NTZ_Nordic_NRF9160_SES/FreeRTOSDemo.emProject
@@ -1,5 +1,10 @@
 <!DOCTYPE CrossStudio_Project_File>
 <solution Name="FreeRTOSDemo" target="8" version="2">
+  <configuration
+    Name="Debug"
+    c_preprocessor_definitions="DEBUG"
+    gcc_debugging_level="Level 3"
+    gcc_optimization_level="None" />
   <project Name="FreeRTOSDemo">
     <configuration
       LIBRARY_IO_TYPE="RTT"
@@ -24,7 +29,7 @@
       build_intermediate_directory="Output/$(Configuration)/Objects/"
       build_output_directory="Output/$(Configuration)/"
       c_preprocessor_definitions="ARM_MATH_ARMV8MML;NRF9160_XXAA;__NRF_FAMILY;__SUPPORT_RESET_HALT_AFTER_BTL=0;INITIALIZE_USER_SECTIONS;__ARMCC_VERSION"
-      c_user_include_directories="$(ProjectDir)/Nordic_Code/CMSIS_5/CMSIS/Core/Include;$(ProjectDir)/Nordic_Code/nRF/Device/Include;$(ProjectDir)/Config;../../Source/include;../../Source/portable/GCC/ARM_CM33_NTZ/non_secure;../Common/ARMv8M/mpu_demo"
+      c_user_include_directories="$(ProjectDir)/Nordic_Code/CMSIS_5/CMSIS/Core/Include;$(ProjectDir)/Nordic_Code/nRF/Device/Include;$(ProjectDir)/Config;../../Source/include;../../Source/portable/GCC/ARM_CM33_NTZ/non_secure;../Common/ARMv8M/mpu_demo;../Common/ARMv8M/reg_tests/GCC/ARM_CM33/non_secure"
       debug_register_definition_file="$(ProjectDir)/Nordic_Code/nRF/XML/nrf9160_Registers.xml"
       debug_stack_pointer_start="__stack_end__"
       debug_start_from_entry_point_symbol="No"
@@ -39,39 +44,21 @@
       project_type="Executable"
       target_reset_script="Reset();"
       target_trace_initialize_script="EnableTrace(&quot;$(TraceInterfaceType)&quot;)" />
-    <folder Name="Nordic_Code">
-      <folder Name="CMSIS Files">
-        <file file_name="Nordic_Code/nRF/Device/Source/system_nrf9160.c">
-          <configuration
-            Name="Common"
-            default_code_section=".init"
-            default_const_section=".init_rodata" />
-        </file>
-        <file file_name="Nordic_Code/nRF/Device/Include/nrf.h" />
-      </folder>
-      <folder Name="Script Files">
-        <file file_name="Nordic_Code/nRF/Scripts/nRF_Target.js">
-          <configuration Name="Common" file_type="Reset Script" />
-        </file>
-      </folder>
-      <folder Name="System Files">
-        <file file_name="Nordic_Code/nRF/Source/nRF_Startup.s" />
-        <file file_name="Nordic_Code/nRF/Source/nrf9160_Vectors.s">
-          <configuration Name="Common" file_type="Assembly" />
-        </file>
-        <file file_name="Nordic_Code/nRF/Source/thumb_crt0.s" />
-      </folder>
+    <folder Name="Config">
+      <file file_name="Config/FreeRTOSConfig.h" />
     </folder>
-    <folder Name="User">
-      <configuration Name="Common" filter="c;cpp;cxx;cc;h;s;asm;inc" />
-      <file file_name="Source/main.c" />
+    <folder Name="Demos">
+      <file file_name="../Common/ARMv8M/mpu_demo/mpu_demo.c" />
+      <file file_name="../Common/ARMv8M/mpu_demo/mpu_demo.h" />
+      <file file_name="../Common/ARMv8M/reg_tests/GCC/ARM_CM33/non_secure/reg_test_asm.c" />
+      <file file_name="../Common/ARMv8M/reg_tests/GCC/ARM_CM33/non_secure/reg_test_asm.h" />
     </folder>
     <folder Name="FreeRTOS">
       <folder Name="include">
+        <file file_name="../../Source/include/FreeRTOS.h" />
         <file file_name="../../Source/include/atomic.h" />
         <file file_name="../../Source/include/deprecated_definitions.h" />
         <file file_name="../../Source/include/event_groups.h" />
-        <file file_name="../../Source/include/FreeRTOS.h" />
         <file file_name="../../Source/include/list.h" />
         <file file_name="../../Source/include/message_buffer.h" />
         <file file_name="../../Source/include/mpu_prototypes.h" />
@@ -92,10 +79,11 @@
         </folder>
         <folder Name="GCC">
           <folder Name="ARM_CM33_NTZ">
+            <file file_name="../../Source/portable/GCC/ARM_CM33_NTZ/non_secure/port.c" />
             <file file_name="../../Source/portable/GCC/ARM_CM33_NTZ/non_secure/portasm.c" />
             <file file_name="../../Source/portable/GCC/ARM_CM33_NTZ/non_secure/portasm.h" />
-            <file file_name="../../Source/portable/GCC/ARM_CM33_NTZ/non_secure/port.c" />
             <file file_name="../../Source/portable/GCC/ARM_CM33_NTZ/non_secure/portmacro.h" />
+            <file file_name="../../Source/portable/GCC/ARM_CM33_NTZ/non_secure/portmacrocommon.h" />
           </folder>
         </folder>
         <folder Name="MemMang">
@@ -109,17 +97,34 @@
       <file file_name="../../Source/tasks.c" />
       <file file_name="../../Source/timers.c" />
     </folder>
-    <folder Name="Config">
-      <file file_name="Config/FreeRTOSConfig.h" />
+    <folder Name="Nordic_Code">
+      <folder Name="CMSIS Files">
+        <file file_name="Nordic_Code/nRF/Device/Include/nrf.h" />
+        <file file_name="Nordic_Code/nRF/Device/Source/system_nrf9160.c">
+          <configuration
+            Name="Common"
+            default_code_section=".init"
+            default_const_section=".init_rodata" />
+        </file>
+      </folder>
+      <folder Name="Script Files">
+        <file file_name="Nordic_Code/nRF/Scripts/nRF_Target.js">
+          <configuration Name="Common" file_type="Reset Script" />
+        </file>
+      </folder>
+      <folder Name="System Files">
+        <file file_name="Nordic_Code/nRF/Source/nRF_Startup.s" />
+        <file file_name="Nordic_Code/nRF/Source/nrf9160_Vectors.s">
+          <configuration Name="Common" file_type="Assembly" />
+        </file>
+        <file file_name="Nordic_Code/nRF/Source/thumb_crt0.s" />
+      </folder>
     </folder>
-    <folder Name="Demos">
-      <file file_name="../Common/ARMv8M/mpu_demo/mpu_demo.c" />
-      <file file_name="../Common/ARMv8M/mpu_demo/mpu_demo.h" />
+    <folder Name="User">
+      <configuration Name="Common" filter="c;cpp;cxx;cc;h;s;asm;inc" />
+      <file file_name="Source/main.c" />
+      <file file_name="Source/reg_tests.c" />
+      <file file_name="Source/reg_tests.h" />
     </folder>
   </project>
-  <configuration
-    Name="Debug"
-    c_preprocessor_definitions="DEBUG"
-    gcc_debugging_level="Level 3"
-    gcc_optimization_level="None" />
 </solution>
diff --git a/FreeRTOS/Demo/CORTEX_MPU_M33F_NTZ_Nordic_NRF9160_SES/Source/main.c b/FreeRTOS/Demo/CORTEX_MPU_M33F_NTZ_Nordic_NRF9160_SES/Source/main.c
index 2398e1a6b..98646f1cf 100644
--- a/FreeRTOS/Demo/CORTEX_MPU_M33F_NTZ_Nordic_NRF9160_SES/Source/main.c
+++ b/FreeRTOS/Demo/CORTEX_MPU_M33F_NTZ_Nordic_NRF9160_SES/Source/main.c
@@ -36,6 +36,7 @@
 

 /* Demo includes. */

 #include "mpu_demo.h"

+#include "reg_tests.h"

 /*-----------------------------------------------------------*/

 

 /* Initialize the MPU symbols needed by the port code. */

@@ -79,6 +80,9 @@ int main( void )
     /* Create tasks for the MPU Demo. */

     vStartMPUDemo();

 

+    /* Create tasks for register tests. */

+    vStartRegTests();

+

     /* Start scheduler. */

     vTaskStartScheduler();

 

diff --git a/FreeRTOS/Demo/CORTEX_MPU_M33F_NTZ_Nordic_NRF9160_SES/Source/reg_tests.c b/FreeRTOS/Demo/CORTEX_MPU_M33F_NTZ_Nordic_NRF9160_SES/Source/reg_tests.c
new file mode 100644
index 000000000..be47547c0
--- /dev/null
+++ b/FreeRTOS/Demo/CORTEX_MPU_M33F_NTZ_Nordic_NRF9160_SES/Source/reg_tests.c
@@ -0,0 +1,354 @@
+/*
+ * FreeRTOS V202212.00
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * https://www.FreeRTOS.org
+ * https://github.com/FreeRTOS
+ *
+ */
+
+/* Standard includes. */
+#include <stdio.h>
+
+/* Scheduler includes. */
+#include "FreeRTOS.h"
+#include "task.h"
+
+/* Reg test includes. */
+#include "reg_tests.h"
+#include "reg_test_asm.h"
+
+/*
+ * Functions that implement reg test tasks.
+ */
+static void prvRegTest1_Task( void * pvParameters );
+static void prvRegTest2_Task( void * pvParameters );
+static void prvRegTest3_Task( void * pvParameters );
+static void prvRegTest4_Task( void * pvParameters );
+
+/*
+ * Check task periodically checks that reg tests tasks
+ * are running fine.
+ */
+static void prvCheckTask( void * pvParameters );
+/*-----------------------------------------------------------*/
+
+/*
+ * Priority of the check task.
+ */
+#define CHECK_TASK_PRIORITY                 ( configMAX_PRIORITIES - 1 )
+
+/*
+ * Frequency of check task.
+ */
+#define NO_ERROR_CHECK_TASK_PERIOD          ( pdMS_TO_TICKS( 5000UL ) )
+#define ERROR_CHECK_TASK_PERIOD             ( pdMS_TO_TICKS( 200UL ) )
+
+/*
+ * Parameters passed to reg test tasks.
+ */
+#define REG_TEST_1_TASK_PARAMETER                   ( ( void * ) 0x12345678 )
+#define REG_TEST_2_TASK_PARAMETER                   ( ( void * ) 0x87654321 )
+#define REG_TEST_3_TASK_PARAMETER                   ( ( void * ) 0x12348765 )
+#define REG_TEST_4_TASK_PARAMETER                   ( ( void * ) 0x43215678 )
+/*-----------------------------------------------------------*/
+
+/*
+ * The following variables are used to communicate the status of the register
+ * test tasks to the check task. If the variables keep incrementing, then the
+ * register test tasks have not discovered any errors. If a variable stops
+ * incrementing, then an error has been found.
+ */
+volatile unsigned long ulRegTest1LoopCounter = 0UL, ulRegTest2LoopCounter = 0UL;
+volatile unsigned long ulRegTest3LoopCounter = 0UL, ulRegTest4LoopCounter = 0UL;
+
+/**
+ * Counter to keep a count of how may times the check task loop has detected
+ * error.
+ */
+volatile unsigned long ulCheckTaskLoops = 0UL;
+/*-----------------------------------------------------------*/
+
+void vStartRegTests( void )
+{
+static StackType_t xRegTest1TaskStack[ configMINIMAL_STACK_SIZE ] __attribute__( ( aligned( 32 ) ) );
+static StackType_t xRegTest2TaskStack[ configMINIMAL_STACK_SIZE ] __attribute__( ( aligned( 32 ) ) );
+static StackType_t xRegTest3TaskStack[ configMINIMAL_STACK_SIZE ] __attribute__( ( aligned( 32 ) ) );
+static StackType_t xRegTest4TaskStack[ configMINIMAL_STACK_SIZE ] __attribute__( ( aligned( 32 ) ) );
+static StackType_t xCheckTaskStack[ configMINIMAL_STACK_SIZE ] __attribute__( ( aligned( 32 ) ) );
+
+TaskParameters_t xRegTest1TaskParameters =
+{
+    .pvTaskCode      = prvRegTest1_Task,
+    .pcName          = "RegTest1",
+    .usStackDepth    = configMINIMAL_STACK_SIZE,
+    .pvParameters    = REG_TEST_1_TASK_PARAMETER,
+    .uxPriority      = tskIDLE_PRIORITY | portPRIVILEGE_BIT,
+    .puxStackBuffer  = xRegTest1TaskStack,
+    .xRegions        =  {
+                            { 0, 0, 0 },
+                            { 0, 0, 0 },
+                            { 0, 0, 0 }
+                        }
+};
+TaskParameters_t xRegTest2TaskParameters =
+{
+    .pvTaskCode      = prvRegTest2_Task,
+    .pcName          = "RegTest2",
+    .usStackDepth    = configMINIMAL_STACK_SIZE,
+    .pvParameters    = REG_TEST_2_TASK_PARAMETER,
+    .uxPriority      = tskIDLE_PRIORITY | portPRIVILEGE_BIT,
+    .puxStackBuffer  = xRegTest2TaskStack,
+    .xRegions        =  {
+                            { 0, 0, 0 },
+                            { 0, 0, 0 },
+                            { 0, 0, 0 },
+                            { 0, 0, 0 },
+                            { 0, 0, 0 },
+                            { 0, 0, 0 },
+                            { 0, 0, 0 },
+                            { 0, 0, 0 },
+                            { 0, 0, 0 },
+                            { 0, 0, 0 },
+                            { 0, 0, 0 }
+                        }
+};
+TaskParameters_t xRegTest3TaskParameters =
+{
+    .pvTaskCode      = prvRegTest3_Task,
+    .pcName          = "RegTest3",
+    .usStackDepth    = configMINIMAL_STACK_SIZE,
+    .pvParameters    = REG_TEST_3_TASK_PARAMETER,
+    .uxPriority      = tskIDLE_PRIORITY | portPRIVILEGE_BIT,
+    .puxStackBuffer  = xRegTest3TaskStack,
+    .xRegions        =  {
+                            { 0, 0, 0 },
+                            { 0, 0, 0 },
+                            { 0, 0, 0 },
+                            { 0, 0, 0 },
+                            { 0, 0, 0 },
+                            { 0, 0, 0 },
+                            { 0, 0, 0 },
+                            { 0, 0, 0 },
+                            { 0, 0, 0 },
+                            { 0, 0, 0 },
+                            { 0, 0, 0 }
+                        }
+};
+TaskParameters_t xRegTest4TaskParameters =
+{
+    .pvTaskCode      = prvRegTest4_Task,
+    .pcName          = "RegTest4",
+    .usStackDepth    = configMINIMAL_STACK_SIZE,
+    .pvParameters    = REG_TEST_4_TASK_PARAMETER,
+    .uxPriority      = tskIDLE_PRIORITY | portPRIVILEGE_BIT,
+    .puxStackBuffer  = xRegTest4TaskStack,
+    .xRegions        =  {
+                            { 0, 0, 0 },
+                            { 0, 0, 0 },
+                            { 0, 0, 0 },
+                            { 0, 0, 0 },
+                            { 0, 0, 0 },
+                            { 0, 0, 0 },
+                            { 0, 0, 0 },
+                            { 0, 0, 0 },
+                            { 0, 0, 0 },
+                            { 0, 0, 0 },
+                            { 0, 0, 0 }
+                        }
+};
+TaskParameters_t xCheckTaskParameters =
+{
+    .pvTaskCode      = prvCheckTask,
+    .pcName          = "Check",
+    .usStackDepth    = configMINIMAL_STACK_SIZE,
+    .pvParameters    = NULL,
+    .uxPriority      = ( CHECK_TASK_PRIORITY | portPRIVILEGE_BIT ),
+    .puxStackBuffer  = xCheckTaskStack,
+    .xRegions        =  {
+                            { 0, 0, 0 },
+                            { 0, 0, 0 },
+                            { 0, 0, 0 },
+                            { 0, 0, 0 },
+                            { 0, 0, 0 },
+                            { 0, 0, 0 },
+                            { 0, 0, 0 },
+                            { 0, 0, 0 },
+                            { 0, 0, 0 },
+                            { 0, 0, 0 },
+                            { 0, 0, 0 }
+                        }
+};
+
+    xTaskCreateRestricted( &( xRegTest1TaskParameters ), NULL );
+    xTaskCreateRestricted( &( xRegTest2TaskParameters ), NULL );
+    xTaskCreateRestricted( &( xRegTest3TaskParameters ), NULL );
+    xTaskCreateRestricted( &( xRegTest4TaskParameters ), NULL );
+    xTaskCreateRestricted( &( xCheckTaskParameters ), NULL );
+}
+/*-----------------------------------------------------------*/
+
+static void prvRegTest1_Task( void * pvParameters )
+{
+    /* Although the reg tests are written in assembly, its entry
+     * point is written in C for convenience of checking that the
+     * task parameter is being passed in correctly. */
+    if( pvParameters == REG_TEST_1_TASK_PARAMETER )
+    {
+        /* Start the part of the test that is written in assembler. */
+        vRegTest1Asm_NonSecure();
+    }
+
+    /* The following line will only execute if the task parameter
+     * is found to be incorrect. The check task will detect that
+     * the reg test loop counter is not being incremented and flag
+     * an error. */
+    vTaskDelete( NULL );
+}
+/*-----------------------------------------------------------*/
+
+static void prvRegTest2_Task( void * pvParameters )
+{
+    /* Although the reg tests are written in assembly, its entry
+     * point is written in C for convenience of checking that the
+     * task parameter is being passed in correctly. */
+    if( pvParameters == REG_TEST_2_TASK_PARAMETER )
+    {
+        /* Start the part of the test that is written in assembler. */
+        vRegTest2Asm_NonSecure();
+    }
+
+    /* The following line will only execute if the task parameter
+     * is found to be incorrect. The check task will detect that
+     * the reg test loop counter is not being incremented and flag
+     * an error. */
+    vTaskDelete( NULL );
+}
+/*-----------------------------------------------------------*/
+
+static void prvRegTest3_Task( void * pvParameters )
+{
+    /* Although the reg tests are written in assembly, its entry
+     * point is written in C for convenience of checking that the
+     * task parameter is being passed in correctly. */
+    if( pvParameters == REG_TEST_3_TASK_PARAMETER )
+    {
+        /* Start the part of the test that is written in assembler. */
+        vRegTest3Asm_NonSecure();
+    }
+
+    /* The following line will only execute if the task parameter
+     * is found to be incorrect. The check task will detect that
+     * the reg test loop counter is not being incremented and flag
+     * an error. */
+    vTaskDelete( NULL );
+}
+/*-----------------------------------------------------------*/
+
+static void prvRegTest4_Task( void * pvParameters )
+{
+    /* Although the reg tests are written in assembly, its entry
+     * point is written in C for convenience of checking that the
+     * task parameter is being passed in correctly. */
+    if( pvParameters == REG_TEST_4_TASK_PARAMETER )
+    {
+        /* Start the part of the test that is written in assembler. */
+        vRegTest4Asm_NonSecure();
+    }
+
+    /* The following line will only execute if the task parameter
+     * is found to be incorrect. The check task will detect that
+     * the reg test loop counter is not being incremented and flag
+     * an error. */
+    vTaskDelete( NULL );
+}
+/*-----------------------------------------------------------*/
+
+static void prvCheckTask( void * pvParameters )
+{
+TickType_t xDelayPeriod = NO_ERROR_CHECK_TASK_PERIOD;
+TickType_t xLastExecutionTime;
+unsigned long ulErrorFound = pdFALSE;
+static unsigned long ulLastRegTest1Value = 0, ulLastRegTest2Value = 0;
+static unsigned long ulLastRegTest3Value = 0, ulLastRegTest4Value = 0;
+
+    /* Just to stop compiler warnings. */
+    ( void ) pvParameters;
+
+    /* Initialize xLastExecutionTime so the first call to vTaskDelayUntil()
+     * works correctly. */
+    xLastExecutionTime = xTaskGetTickCount();
+
+    /* Cycle for ever, delaying then checking all the other tasks are still
+     * operating without error.  The onboard LED is toggled on each iteration.
+     * If an error is detected then the delay period is decreased from
+     * mainNO_ERROR_CHECK_TASK_PERIOD to mainERROR_CHECK_TASK_PERIOD.  This has
+     * the effect of increasing the rate at which the onboard LED toggles, and
+     * in so doing gives visual feedback of the system status. */
+    for( ;; )
+    {
+        /* Delay until it is time to execute again. */
+        vTaskDelayUntil( &xLastExecutionTime, xDelayPeriod );
+
+        /* Check that the register test 1 task is still running. */
+        if( ulLastRegTest1Value == ulRegTest1LoopCounter )
+        {
+            ulErrorFound |= 1UL << 0UL;
+        }
+        ulLastRegTest1Value = ulRegTest1LoopCounter;
+
+        /* Check that the register test 2 task is still running. */
+        if( ulLastRegTest2Value == ulRegTest2LoopCounter )
+        {
+            ulErrorFound |= 1UL << 1UL;
+        }
+        ulLastRegTest2Value = ulRegTest2LoopCounter;
+
+        /* Check that the register test 3 task is still running. */
+        if( ulLastRegTest3Value == ulRegTest3LoopCounter )
+        {
+            ulErrorFound |= 1UL << 2UL;
+        }
+        ulLastRegTest3Value = ulRegTest3LoopCounter;
+
+        /* Check that the register test 4 task is still running. */
+        if( ulLastRegTest4Value == ulRegTest4LoopCounter )
+        {
+            ulErrorFound |= 1UL << 3UL;
+        }
+        ulLastRegTest4Value = ulRegTest4LoopCounter;
+
+        if( ulErrorFound != pdFALSE )
+        {
+            /* An error has been detected in one of the tasks. */
+            xDelayPeriod = ERROR_CHECK_TASK_PERIOD;
+
+            printf( "ERROR detected!\r\n" );
+
+            /* Increment error detection count. */
+            ulCheckTaskLoops++;
+        }
+        else
+        {
+            printf( "No errors.\r\n" );
+        }
+    }
+}
+/*-----------------------------------------------------------*/
diff --git a/FreeRTOS/Demo/CORTEX_MPU_M33F_NTZ_Nordic_NRF9160_SES/Source/reg_tests.h b/FreeRTOS/Demo/CORTEX_MPU_M33F_NTZ_Nordic_NRF9160_SES/Source/reg_tests.h
new file mode 100644
index 000000000..0837aad72
--- /dev/null
+++ b/FreeRTOS/Demo/CORTEX_MPU_M33F_NTZ_Nordic_NRF9160_SES/Source/reg_tests.h
@@ -0,0 +1,35 @@
+/*
+ * FreeRTOS V202212.00
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * https://www.FreeRTOS.org
+ * https://github.com/FreeRTOS
+ *
+ */
+
+#ifndef REG_TESTS_H
+#define REG_TESTS_H
+
+/**
+ * @brief Creates all the tasks for reg tests.
+ */
+void vStartRegTests( void );
+
+#endif /* REG_TESTS_H */
diff --git a/FreeRTOS/Demo/CORTEX_MPU_M33F_Nordic_NRF9160_SES/FreeRTOSDemo.emProject b/FreeRTOS/Demo/CORTEX_MPU_M33F_Nordic_NRF9160_SES/FreeRTOSDemo.emProject
index b311d4b23..3185248ac 100644
--- a/FreeRTOS/Demo/CORTEX_MPU_M33F_Nordic_NRF9160_SES/FreeRTOSDemo.emProject
+++ b/FreeRTOS/Demo/CORTEX_MPU_M33F_Nordic_NRF9160_SES/FreeRTOSDemo.emProject
@@ -1,6 +1,11 @@
 <!DOCTYPE CrossStudio_Project_File>
 <solution Name="FreeRTOSDemo" target="8" version="2">
-  <project Name="FreeRTOSDemo_s">
+  <configuration
+    Name="Debug"
+    c_preprocessor_definitions="DEBUG"
+    gcc_debugging_level="Level 3"
+    gcc_optimization_level="None" />
+  <project Name="FreeRTOSDemo_ns">
     <configuration
       LIBRARY_IO_TYPE="RTT"
       Name="Common"
@@ -11,7 +16,6 @@
       arm_endian="Little"
       arm_fp_abi="Hard"
       arm_fpu_type="FPv5-SP-D16"
-      arm_linker_cmse_import_library_file_name="$(OutDir)/FreeRTOSDemo_s_cmse.lib"
       arm_linker_heap_size="0"
       arm_linker_process_stack_size="0"
       arm_linker_stack_size="2048"
@@ -24,31 +28,85 @@
       arm_v8M_has_cmse="Yes"
       build_intermediate_directory="Output/$(ProjectName)/$(Configuration)/Objects/"
       build_output_directory="Output/$(ProjectName)/$(Configuration)"
-      c_preprocessor_definitions="ARM_MATH_ARMV8MML;NRF9160_XXAA;__NRF_FAMILY;__SUPPORT_RESET_HALT_AFTER_BTL=0;__ARMCC_VERSION"
-      c_user_include_directories="$(ProjectDir)/Nordic_Code/CMSIS_5/CMSIS/Core/Include;$(ProjectDir)/Nordic_Code/nRF/Device/Include;$(ProjectDir)/Config;../../Source/portable/GCC/ARM_CM33/secure;../Common/ARMv8M/tz_demo"
+      c_preprocessor_definitions="ARM_MATH_ARMV8MML;NRF9160_XXAA;__NRF_FAMILY;NRF_TRUSTZONE_NONSECURE;__SUPPORT_RESET_HALT_AFTER_BTL=0;INITIALIZE_USER_SECTIONS;__ARMCC_VERSION"
+      c_user_include_directories="$(ProjectDir)/Nordic_Code/CMSIS_5/CMSIS/Core/Include;$(ProjectDir)/Nordic_Code/nRF/Device/Include;$(ProjectDir)/Config;../../Source/include;../../Source/portable/GCC/ARM_CM33/secure;../../Source/portable/GCC/ARM_CM33/non_secure;../Common/ARMv8M/tz_demo;../Common/ARMv8M/mpu_demo;../Common/ARMv8M/reg_tests/GCC/ARM_CM33/secure;../Common/ARMv8M/reg_tests/GCC/ARM_CM33/non_secure"
       debug_register_definition_file="$(ProjectDir)/Nordic_Code/nRF/XML/nrf9160_Registers.xml"
       debug_stack_pointer_start="__stack_end__"
       debug_start_from_entry_point_symbol="No"
       debug_target_connection="J-Link"
       gcc_entry_point="Reset_Handler"
       link_linker_script_file=""
-      linker_memory_map_file="$(ProjectDir)/Secure/FreeRTOSDemo_s_MemoryMap.xml"
+      linker_additional_files="$(OutDir)/../../FreeRTOSDemo_s/$(Configuration)/FreeRTOSDemo_s_cmse.lib"
+      linker_memory_map_file="$(ProjectDir)/NonSecure/FreeRTOSDemo_ns_MemoryMap.xml"
       linker_output_format="bin"
-      linker_section_placement_file="$(ProjectDir)/Secure/FreeRTOSDemo_s_Flash_Placement.xml"
+      linker_section_placement_file="$(ProjectDir)/NonSecure/FreeRTOSDemo_ns_Flash_Placement.xml"
       macros="DeviceHeaderFile=$(PackagesDir)/nRF/Device/Include/nrf.h;DeviceLibraryIdentifier=ARMv8MMLlfsp;DeviceSystemFile=$(PackagesDir)/nRF/Device/Source/system_nrf9160.c;DeviceVectorsFile=$(PackagesDir)/nRF/Source/nrf9160_Vectors.s;DeviceFamily=nRF;Target=nRF9160_xxAA"
       project_directory=""
       project_type="Executable"
       target_reset_script="Reset();"
       target_trace_initialize_script="EnableTrace(&quot;$(TraceInterfaceType)&quot;)" />
+    <folder Name="Config">
+      <file file_name="Config/FreeRTOSConfig.h" />
+    </folder>
+    <folder Name="Demos">
+      <file file_name="../Common/ARMv8M/mpu_demo/mpu_demo.c" />
+      <file file_name="../Common/ARMv8M/mpu_demo/mpu_demo.h" />
+      <file file_name="../Common/ARMv8M/reg_tests/GCC/ARM_CM33/non_secure/reg_test_asm.c" />
+      <file file_name="../Common/ARMv8M/reg_tests/GCC/ARM_CM33/non_secure/reg_test_asm.h" />
+      <file file_name="../Common/ARMv8M/tz_demo/tz_demo.c" />
+      <file file_name="../Common/ARMv8M/tz_demo/tz_demo.h" />
+    </folder>
+    <folder Name="FreeRTOS">
+      <folder Name="include">
+        <file file_name="../../Source/include/FreeRTOS.h" />
+        <file file_name="../../Source/include/atomic.h" />
+        <file file_name="../../Source/include/deprecated_definitions.h" />
+        <file file_name="../../Source/include/event_groups.h" />
+        <file file_name="../../Source/include/list.h" />
+        <file file_name="../../Source/include/message_buffer.h" />
+        <file file_name="../../Source/include/mpu_prototypes.h" />
+        <file file_name="../../Source/include/mpu_wrappers.h" />
+        <file file_name="../../Source/include/portable.h" />
+        <file file_name="../../Source/include/projdefs.h" />
+        <file file_name="../../Source/include/queue.h" />
+        <file file_name="../../Source/include/semphr.h" />
+        <file file_name="../../Source/include/stack_macros.h" />
+        <file file_name="../../Source/include/stream_buffer.h" />
+        <file file_name="../../Source/include/task.h" />
+        <file file_name="../../Source/include/timers.h" />
+      </folder>
+      <folder Name="portable">
+        <folder Name="Common">
+          <file file_name="../../Source/portable/Common/mpu_wrappers.c" />
+        </folder>
+        <folder Name="GCC">
+          <folder Name="ARM_CM33">
+            <file file_name="../../Source/portable/GCC/ARM_CM33/non_secure/port.c" />
+            <file file_name="../../Source/portable/GCC/ARM_CM33/non_secure/portasm.c" />
+            <file file_name="../../Source/portable/GCC/ARM_CM33/non_secure/portasm.h" />
+            <file file_name="../../Source/portable/GCC/ARM_CM33/non_secure/portmacro.h" />
+          </folder>
+        </folder>
+        <folder Name="MemMang">
+          <file file_name="../../Source/portable/MemMang/heap_4.c" />
+        </folder>
+      </folder>
+      <file file_name="../../Source/event_groups.c" />
+      <file file_name="../../Source/list.c" />
+      <file file_name="../../Source/queue.c" />
+      <file file_name="../../Source/stream_buffer.c" />
+      <file file_name="../../Source/tasks.c" />
+      <file file_name="../../Source/timers.c" />
+    </folder>
     <folder Name="Nordic_Code">
       <folder Name="CMSIS Files">
+        <file file_name="Nordic_Code/nRF/Device/Include/nrf.h" />
         <file file_name="Nordic_Code/nRF/Device/Source/system_nrf9160.c">
           <configuration
             Name="Common"
             default_code_section=".init"
             default_const_section=".init_rodata" />
         </file>
-        <file file_name="Nordic_Code/nRF/Device/Include/nrf.h" />
       </folder>
       <folder Name="Script Files">
         <file file_name="Nordic_Code/nRF/Scripts/nRF_Target.js">
@@ -65,38 +123,12 @@
     </folder>
     <folder Name="User">
       <configuration Name="Common" filter="c;cpp;cxx;cc;h;s;asm;inc" />
-      <file file_name="Secure/main_s.c" />
-    </folder>
-    <folder Name="FreeRTOS">
-      <folder Name="SecureContext">
-        <file file_name="../../Source/portable/GCC/ARM_CM33/secure/secure_context.c" />
-        <file file_name="../../Source/portable/GCC/ARM_CM33/secure/secure_context.h" />
-        <file file_name="../../Source/portable/GCC/ARM_CM33/secure/secure_context_port.c" />
-        <file file_name="../../Source/portable/GCC/ARM_CM33/secure/secure_port_macros.h" />
-      </folder>
-      <folder Name="SecureHeap">
-        <file file_name="../../Source/portable/GCC/ARM_CM33/secure/secure_heap.c" />
-        <file file_name="../../Source/portable/GCC/ARM_CM33/secure/secure_heap.h" />
-      </folder>
-      <folder Name="SecureInit">
-        <file file_name="../../Source/portable/GCC/ARM_CM33/secure/secure_init.c" />
-        <file file_name="../../Source/portable/GCC/ARM_CM33/secure/secure_init.h" />
-      </folder>
-    </folder>
-    <folder Name="NSCFunctions">
-      <file file_name="../Common/ARMv8M/tz_demo/nsc_functions.c" />
-      <file file_name="../Common/ARMv8M/tz_demo/nsc_functions.h" />
-    </folder>
-    <folder Name="Config">
-      <file file_name="Config/FreeRTOSConfig.h" />
+      <file file_name="NonSecure/main_ns.c" />
+      <file file_name="NonSecure/reg_tests.c" />
+      <file file_name="NonSecure/reg_tests.h" />
     </folder>
   </project>
-  <configuration
-    Name="Debug"
-    c_preprocessor_definitions="DEBUG"
-    gcc_debugging_level="Level 3"
-    gcc_optimization_level="None" />
-  <project Name="FreeRTOSDemo_ns">
+  <project Name="FreeRTOSDemo_s">
     <configuration
       LIBRARY_IO_TYPE="RTT"
       Name="Common"
@@ -107,6 +139,7 @@
       arm_endian="Little"
       arm_fp_abi="Hard"
       arm_fpu_type="FPv5-SP-D16"
+      arm_linker_cmse_import_library_file_name="$(OutDir)/FreeRTOSDemo_s_cmse.lib"
       arm_linker_heap_size="0"
       arm_linker_process_stack_size="0"
       arm_linker_stack_size="2048"
@@ -119,23 +152,47 @@
       arm_v8M_has_cmse="Yes"
       build_intermediate_directory="Output/$(ProjectName)/$(Configuration)/Objects/"
       build_output_directory="Output/$(ProjectName)/$(Configuration)"
-      c_preprocessor_definitions="ARM_MATH_ARMV8MML;NRF9160_XXAA;__NRF_FAMILY;NRF_TRUSTZONE_NONSECURE;__SUPPORT_RESET_HALT_AFTER_BTL=0;INITIALIZE_USER_SECTIONS;__ARMCC_VERSION"
-      c_user_include_directories="$(ProjectDir)/Nordic_Code/CMSIS_5/CMSIS/Core/Include;$(ProjectDir)/Nordic_Code/nRF/Device/Include;$(ProjectDir)/Config;../../Source/include;../../Source/portable/GCC/ARM_CM33/secure;../../Source/portable/GCC/ARM_CM33/non_secure;../Common/ARMv8M/tz_demo;../Common/ARMv8M/mpu_demo"
+      c_preprocessor_definitions="ARM_MATH_ARMV8MML;NRF9160_XXAA;__NRF_FAMILY;__SUPPORT_RESET_HALT_AFTER_BTL=0;__ARMCC_VERSION"
+      c_user_include_directories="$(ProjectDir)/Nordic_Code/CMSIS_5/CMSIS/Core/Include;$(ProjectDir)/Nordic_Code/nRF/Device/Include;$(ProjectDir)/Config;../../Source/portable/GCC/ARM_CM33/secure;../Common/ARMv8M/tz_demo"
       debug_register_definition_file="$(ProjectDir)/Nordic_Code/nRF/XML/nrf9160_Registers.xml"
       debug_stack_pointer_start="__stack_end__"
       debug_start_from_entry_point_symbol="No"
       debug_target_connection="J-Link"
       gcc_entry_point="Reset_Handler"
       link_linker_script_file=""
-      linker_additional_files="$(OutDir)/../../FreeRTOSDemo_s/$(Configuration)/FreeRTOSDemo_s_cmse.lib"
-      linker_memory_map_file="$(ProjectDir)/NonSecure/FreeRTOSDemo_ns_MemoryMap.xml"
+      linker_memory_map_file="$(ProjectDir)/Secure/FreeRTOSDemo_s_MemoryMap.xml"
       linker_output_format="bin"
-      linker_section_placement_file="$(ProjectDir)/NonSecure/FreeRTOSDemo_ns_Flash_Placement.xml"
+      linker_section_placement_file="$(ProjectDir)/Secure/FreeRTOSDemo_s_Flash_Placement.xml"
       macros="DeviceHeaderFile=$(PackagesDir)/nRF/Device/Include/nrf.h;DeviceLibraryIdentifier=ARMv8MMLlfsp;DeviceSystemFile=$(PackagesDir)/nRF/Device/Source/system_nrf9160.c;DeviceVectorsFile=$(PackagesDir)/nRF/Source/nrf9160_Vectors.s;DeviceFamily=nRF;Target=nRF9160_xxAA"
       project_directory=""
       project_type="Executable"
       target_reset_script="Reset();"
       target_trace_initialize_script="EnableTrace(&quot;$(TraceInterfaceType)&quot;)" />
+    <folder Name="Config">
+      <file file_name="Config/FreeRTOSConfig.h" />
+    </folder>
+    <folder Name="FreeRTOS">
+      <folder Name="SecureContext">
+        <file file_name="../../Source/portable/GCC/ARM_CM33/secure/secure_context.c" />
+        <file file_name="../../Source/portable/GCC/ARM_CM33/secure/secure_context.h" />
+        <file file_name="../../Source/portable/GCC/ARM_CM33/secure/secure_context_port.c" />
+        <file file_name="../../Source/portable/GCC/ARM_CM33/secure/secure_port_macros.h" />
+      </folder>
+      <folder Name="SecureHeap">
+        <file file_name="../../Source/portable/GCC/ARM_CM33/secure/secure_heap.c" />
+        <file file_name="../../Source/portable/GCC/ARM_CM33/secure/secure_heap.h" />
+      </folder>
+      <folder Name="SecureInit">
+        <file file_name="../../Source/portable/GCC/ARM_CM33/secure/secure_init.c" />
+        <file file_name="../../Source/portable/GCC/ARM_CM33/secure/secure_init.h" />
+      </folder>
+    </folder>
+    <folder Name="NSCFunctions">
+      <file file_name="../Common/ARMv8M/tz_demo/nsc_functions.c" />
+      <file file_name="../Common/ARMv8M/tz_demo/nsc_functions.h" />
+      <file file_name="../Common/ARMv8M/reg_tests/GCC/ARM_CM33/secure/secure_reg_test_asm.c" />
+      <file file_name="../Common/ARMv8M/reg_tests/GCC/ARM_CM33/secure/secure_reg_test_asm.h" />
+    </folder>
     <folder Name="Nordic_Code">
       <folder Name="CMSIS Files">
         <file file_name="Nordic_Code/nRF/Device/Include/nrf.h" />
@@ -161,58 +218,7 @@
     </folder>
     <folder Name="User">
       <configuration Name="Common" filter="c;cpp;cxx;cc;h;s;asm;inc" />
-      <file file_name="NonSecure/main_ns.c" />
-    </folder>
-    <folder Name="FreeRTOS">
-      <folder Name="include">
-        <file file_name="../../Source/include/atomic.h" />
-        <file file_name="../../Source/include/deprecated_definitions.h" />
-        <file file_name="../../Source/include/event_groups.h" />
-        <file file_name="../../Source/include/FreeRTOS.h" />
-        <file file_name="../../Source/include/list.h" />
-        <file file_name="../../Source/include/message_buffer.h" />
-        <file file_name="../../Source/include/mpu_prototypes.h" />
-        <file file_name="../../Source/include/mpu_wrappers.h" />
-        <file file_name="../../Source/include/portable.h" />
-        <file file_name="../../Source/include/projdefs.h" />
-        <file file_name="../../Source/include/queue.h" />
-        <file file_name="../../Source/include/semphr.h" />
-        <file file_name="../../Source/include/stack_macros.h" />
-        <file file_name="../../Source/include/stream_buffer.h" />
-        <file file_name="../../Source/include/task.h" />
-        <file file_name="../../Source/include/timers.h" />
-      </folder>
-      <folder Name="portable">
-        <folder Name="GCC">
-          <folder Name="ARM_CM33">
-            <file file_name="../../Source/portable/GCC/ARM_CM33/non_secure/portasm.c" />
-            <file file_name="../../Source/portable/GCC/ARM_CM33/non_secure/portasm.h" />
-            <file file_name="../../Source/portable/GCC/ARM_CM33/non_secure/port.c" />
-            <file file_name="../../Source/portable/GCC/ARM_CM33/non_secure/portmacro.h" />
-          </folder>
-        </folder>
-        <folder Name="MemMang">
-          <file file_name="../../Source/portable/MemMang/heap_4.c" />
-        </folder>
-        <folder Name="Common">
-          <file file_name="../../Source/portable/Common/mpu_wrappers.c" />
-        </folder>
-      </folder>
-      <file file_name="../../Source/event_groups.c" />
-      <file file_name="../../Source/list.c" />
-      <file file_name="../../Source/queue.c" />
-      <file file_name="../../Source/stream_buffer.c" />
-      <file file_name="../../Source/tasks.c" />
-      <file file_name="../../Source/timers.c" />
-    </folder>
-    <folder Name="Demos">
-      <file file_name="../Common/ARMv8M/mpu_demo/mpu_demo.c" />
-      <file file_name="../Common/ARMv8M/mpu_demo/mpu_demo.h" />
-      <file file_name="../Common/ARMv8M/tz_demo/tz_demo.c" />
-      <file file_name="../Common/ARMv8M/tz_demo/tz_demo.h" />
-    </folder>
-    <folder Name="Config">
-      <file file_name="Config/FreeRTOSConfig.h" />
+      <file file_name="Secure/main_s.c" />
     </folder>
   </project>
 </solution>
diff --git a/FreeRTOS/Demo/CORTEX_MPU_M33F_Nordic_NRF9160_SES/NonSecure/main_ns.c b/FreeRTOS/Demo/CORTEX_MPU_M33F_Nordic_NRF9160_SES/NonSecure/main_ns.c
index f63971298..3d0ac1c2e 100644
--- a/FreeRTOS/Demo/CORTEX_MPU_M33F_Nordic_NRF9160_SES/NonSecure/main_ns.c
+++ b/FreeRTOS/Demo/CORTEX_MPU_M33F_Nordic_NRF9160_SES/NonSecure/main_ns.c
@@ -37,6 +37,7 @@
 /* Demo includes. */

 #include "tz_demo.h"

 #include "mpu_demo.h"

+#include "reg_tests.h"

 /*-----------------------------------------------------------*/

 

 /* Initialize the MPU symbols needed by the port code. */

@@ -106,6 +107,8 @@ static void prvCreateTasks( void )
     /* Create tasks for the TZ Demo. */

     vStartTZDemo();

 

+    /* Create tasks for register tests. */

+    vStartRegTests();

 }

 /*-----------------------------------------------------------*/

 

diff --git a/FreeRTOS/Demo/CORTEX_MPU_M33F_Nordic_NRF9160_SES/NonSecure/reg_tests.c b/FreeRTOS/Demo/CORTEX_MPU_M33F_Nordic_NRF9160_SES/NonSecure/reg_tests.c
new file mode 100644
index 000000000..2c9fc5ca9
--- /dev/null
+++ b/FreeRTOS/Demo/CORTEX_MPU_M33F_Nordic_NRF9160_SES/NonSecure/reg_tests.c
@@ -0,0 +1,498 @@
+/*
+ * FreeRTOS V202212.00
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * https://www.FreeRTOS.org
+ * https://github.com/FreeRTOS
+ *
+ */
+
+/* Standard includes. */
+#include <stdio.h>
+
+/* Scheduler includes. */
+#include "FreeRTOS.h"
+#include "task.h"
+
+/* Reg test includes. */
+#include "reg_tests.h"
+#include "reg_test_asm.h"
+#include "secure_reg_test_asm.h"
+
+/*
+ * Functions that implement reg test tasks.
+ */
+static void prvRegTest1_Task( void * pvParameters );
+static void prvRegTest2_Task( void * pvParameters );
+static void prvRegTest3_Task( void * pvParameters );
+static void prvRegTest4_Task( void * pvParameters );
+static void prvRegTest_Secure_Task( void * pvParameters );
+static void prvRegTest_NonSecureCallback_Task( void * pvParameters );
+/*
+ * Check task periodically checks that reg tests tasks
+ * are running fine.
+ */
+static void prvCheckTask( void * pvParameters );
+/*-----------------------------------------------------------*/
+
+/*
+ * Priority of the check task.
+ */
+#define CHECK_TASK_PRIORITY                 ( configMAX_PRIORITIES - 1 )
+
+/*
+ * Frequency of check task.
+ */
+#define NO_ERROR_CHECK_TASK_PERIOD          ( pdMS_TO_TICKS( 5000UL ) )
+#define ERROR_CHECK_TASK_PERIOD             ( pdMS_TO_TICKS( 200UL ) )
+
+/*
+ * Parameters passed to reg test tasks.
+ */
+#define REG_TEST_1_TASK_PARAMETER                   ( ( void * ) 0x12345678 )
+#define REG_TEST_2_TASK_PARAMETER                   ( ( void * ) 0x87654321 )
+#define REG_TEST_3_TASK_PARAMETER                   ( ( void * ) 0x12348765 )
+#define REG_TEST_4_TASK_PARAMETER                   ( ( void * ) 0x43215678 )
+#define REG_TEST_SECURE_TASK_PARAMETER              ( ( void * ) 0x1234ABCD )
+#define REG_TEST_NON_SECURE_CALLBACK_TASK_PARAMETER ( ( void * ) 0xABCD1234 )
+/*-----------------------------------------------------------*/
+
+/*
+ * The following variables are used to communicate the status of the register
+ * test tasks to the check task. If the variables keep incrementing, then the
+ * register test tasks have not discovered any errors. If a variable stops
+ * incrementing, then an error has been found.
+ */
+volatile unsigned long ulRegTest1LoopCounter = 0UL, ulRegTest2LoopCounter = 0UL;
+volatile unsigned long ulRegTest3LoopCounter = 0UL, ulRegTest4LoopCounter = 0UL;
+volatile unsigned long ulRegTestSecureLoopCounter = 0UL;
+volatile unsigned long ulRegTestNonSecureCallbackLoopCounter = 0UL;
+
+/**
+ * Counter to keep a count of how may times the check task loop has detected
+ * error.
+ */
+volatile unsigned long ulCheckTaskLoops = 0UL;
+/*-----------------------------------------------------------*/
+
+void vStartRegTests( void )
+{
+static StackType_t xRegTest1TaskStack[ configMINIMAL_STACK_SIZE ] __attribute__( ( aligned( 32 ) ) );
+static StackType_t xRegTest2TaskStack[ configMINIMAL_STACK_SIZE ] __attribute__( ( aligned( 32 ) ) );
+static StackType_t xRegTest3TaskStack[ configMINIMAL_STACK_SIZE ] __attribute__( ( aligned( 32 ) ) );
+static StackType_t xRegTest4TaskStack[ configMINIMAL_STACK_SIZE ] __attribute__( ( aligned( 32 ) ) );
+static StackType_t xRegTestSecureTaskStack[ configMINIMAL_STACK_SIZE ] __attribute__( ( aligned( 32 ) ) );
+static StackType_t xRegTestNonSecureCallbackTaskStack[ configMINIMAL_STACK_SIZE ] __attribute__( ( aligned( 32 ) ) );
+static StackType_t xCheckTaskStack[ configMINIMAL_STACK_SIZE ] __attribute__( ( aligned( 32 ) ) );
+
+TaskParameters_t xRegTest1TaskParameters =
+{
+    .pvTaskCode      = prvRegTest1_Task,
+    .pcName          = "RegTest1",
+    .usStackDepth    = configMINIMAL_STACK_SIZE,
+    .pvParameters    = REG_TEST_1_TASK_PARAMETER,
+    .uxPriority      = tskIDLE_PRIORITY | portPRIVILEGE_BIT,
+    .puxStackBuffer  = xRegTest1TaskStack,
+    .xRegions        =  {
+                            { 0, 0, 0 },
+                            { 0, 0, 0 },
+                            { 0, 0, 0 },
+                            { 0, 0, 0 },
+                            { 0, 0, 0 },
+                            { 0, 0, 0 },
+                            { 0, 0, 0 },
+                            { 0, 0, 0 },
+                            { 0, 0, 0 },
+                            { 0, 0, 0 },
+                            { 0, 0, 0 }
+                        }
+};
+TaskParameters_t xRegTest2TaskParameters =
+{
+    .pvTaskCode      = prvRegTest2_Task,
+    .pcName          = "RegTest2",
+    .usStackDepth    = configMINIMAL_STACK_SIZE,
+    .pvParameters    = REG_TEST_2_TASK_PARAMETER,
+    .uxPriority      = tskIDLE_PRIORITY | portPRIVILEGE_BIT,
+    .puxStackBuffer  = xRegTest2TaskStack,
+    .xRegions        =  {
+                            { 0, 0, 0 },
+                            { 0, 0, 0 },
+                            { 0, 0, 0 },
+                            { 0, 0, 0 },
+                            { 0, 0, 0 },
+                            { 0, 0, 0 },
+                            { 0, 0, 0 },
+                            { 0, 0, 0 },
+                            { 0, 0, 0 },
+                            { 0, 0, 0 },
+                            { 0, 0, 0 }
+                        }
+};
+TaskParameters_t xRegTest3TaskParameters =
+{
+    .pvTaskCode      = prvRegTest3_Task,
+    .pcName          = "RegTest3",
+    .usStackDepth    = configMINIMAL_STACK_SIZE,
+    .pvParameters    = REG_TEST_3_TASK_PARAMETER,
+    .uxPriority      = tskIDLE_PRIORITY | portPRIVILEGE_BIT,
+    .puxStackBuffer  = xRegTest3TaskStack,
+    .xRegions        =  {
+                            { 0, 0, 0 },
+                            { 0, 0, 0 },
+                            { 0, 0, 0 },
+                            { 0, 0, 0 },
+                            { 0, 0, 0 },
+                            { 0, 0, 0 },
+                            { 0, 0, 0 },
+                            { 0, 0, 0 },
+                            { 0, 0, 0 },
+                            { 0, 0, 0 },
+                            { 0, 0, 0 }
+                        }
+};
+TaskParameters_t xRegTest4TaskParameters =
+{
+    .pvTaskCode      = prvRegTest4_Task,
+    .pcName          = "RegTest4",
+    .usStackDepth    = configMINIMAL_STACK_SIZE,
+    .pvParameters    = REG_TEST_4_TASK_PARAMETER,
+    .uxPriority      = tskIDLE_PRIORITY | portPRIVILEGE_BIT,
+    .puxStackBuffer  = xRegTest4TaskStack,
+    .xRegions        =  {
+                            { 0, 0, 0 },
+                            { 0, 0, 0 },
+                            { 0, 0, 0 },
+                            { 0, 0, 0 },
+                            { 0, 0, 0 },
+                            { 0, 0, 0 },
+                            { 0, 0, 0 },
+                            { 0, 0, 0 },
+                            { 0, 0, 0 },
+                            { 0, 0, 0 },
+                            { 0, 0, 0 }
+                        }
+};
+TaskParameters_t xRegTestSecureTaskParameters =
+{
+    .pvTaskCode      = prvRegTest_Secure_Task,
+    .pcName          = "RegTestSecure",
+    .usStackDepth    = configMINIMAL_STACK_SIZE,
+    .pvParameters    = REG_TEST_SECURE_TASK_PARAMETER,
+    .uxPriority      = tskIDLE_PRIORITY | portPRIVILEGE_BIT,
+    .puxStackBuffer  = xRegTestSecureTaskStack,
+    .xRegions        =  {
+                            { 0, 0, 0 },
+                            { 0, 0, 0 },
+                            { 0, 0, 0 },
+                            { 0, 0, 0 },
+                            { 0, 0, 0 },
+                            { 0, 0, 0 },
+                            { 0, 0, 0 },
+                            { 0, 0, 0 },
+                            { 0, 0, 0 },
+                            { 0, 0, 0 },
+                            { 0, 0, 0 }
+                        }
+};
+TaskParameters_t xRegTestNonSecureCallbackTaskParameters =
+{
+    .pvTaskCode      = prvRegTest_NonSecureCallback_Task,
+    .pcName          = "RegTestNonSecureCallback",
+    .usStackDepth    = configMINIMAL_STACK_SIZE,
+    .pvParameters    = REG_TEST_NON_SECURE_CALLBACK_TASK_PARAMETER,
+    .uxPriority      = tskIDLE_PRIORITY | portPRIVILEGE_BIT,
+    .puxStackBuffer  = xRegTestNonSecureCallbackTaskStack,
+    .xRegions        =  {
+                            { 0, 0, 0 },
+                            { 0, 0, 0 },
+                            { 0, 0, 0 },
+                            { 0, 0, 0 },
+                            { 0, 0, 0 },
+                            { 0, 0, 0 },
+                            { 0, 0, 0 },
+                            { 0, 0, 0 },
+                            { 0, 0, 0 },
+                            { 0, 0, 0 },
+                            { 0, 0, 0 }
+                        }
+};
+
+TaskParameters_t xCheckTaskParameters =
+{
+    .pvTaskCode      = prvCheckTask,
+    .pcName          = "Check",
+    .usStackDepth    = configMINIMAL_STACK_SIZE,
+    .pvParameters    = NULL,
+    .uxPriority      = ( CHECK_TASK_PRIORITY | portPRIVILEGE_BIT ),
+    .puxStackBuffer  = xCheckTaskStack,
+    .xRegions        =  {
+                            { 0, 0, 0 },
+                            { 0, 0, 0 },
+                            { 0, 0, 0 },
+                            { 0, 0, 0 },
+                            { 0, 0, 0 },
+                            { 0, 0, 0 },
+                            { 0, 0, 0 },
+                            { 0, 0, 0 },
+                            { 0, 0, 0 },
+                            { 0, 0, 0 },
+                            { 0, 0, 0 }
+                        }
+};
+
+    xTaskCreateRestricted( &( xRegTest1TaskParameters ), NULL );
+    xTaskCreateRestricted( &( xRegTest2TaskParameters ), NULL );
+    xTaskCreateRestricted( &( xRegTest3TaskParameters ), NULL );
+    xTaskCreateRestricted( &( xRegTest4TaskParameters ), NULL );
+    xTaskCreateRestricted( &( xRegTestSecureTaskParameters ), NULL );
+    xTaskCreateRestricted( &( xRegTestNonSecureCallbackTaskParameters ), NULL );
+    xTaskCreateRestricted( &( xCheckTaskParameters ), NULL );
+}
+/*-----------------------------------------------------------*/
+
+static void prvRegTest1_Task( void * pvParameters )
+{
+    /* Although the reg tests are written in assembly, its entry
+     * point is written in C for convenience of checking that the
+     * task parameter is being passed in correctly. */
+    if( pvParameters == REG_TEST_1_TASK_PARAMETER )
+    {
+        /* Start the part of the test that is written in assembler. */
+        vRegTest1Asm_NonSecure();
+    }
+
+    /* The following line will only execute if the task parameter
+     * is found to be incorrect. The check task will detect that
+     * the reg test loop counter is not being incremented and flag
+     * an error. */
+    vTaskDelete( NULL );
+}
+/*-----------------------------------------------------------*/
+
+static void prvRegTest2_Task( void * pvParameters )
+{
+    /* Although the reg tests are written in assembly, its entry
+     * point is written in C for convenience of checking that the
+     * task parameter is being passed in correctly. */
+    if( pvParameters == REG_TEST_2_TASK_PARAMETER )
+    {
+        /* Start the part of the test that is written in assembler. */
+        vRegTest2Asm_NonSecure();
+    }
+
+    /* The following line will only execute if the task parameter
+     * is found to be incorrect. The check task will detect that
+     * the reg test loop counter is not being incremented and flag
+     * an error. */
+    vTaskDelete( NULL );
+}
+/*-----------------------------------------------------------*/
+
+static void prvRegTest3_Task( void * pvParameters )
+{
+    /* Although the reg tests are written in assembly, its entry
+     * point is written in C for convenience of checking that the
+     * task parameter is being passed in correctly. */
+    if( pvParameters == REG_TEST_3_TASK_PARAMETER )
+    {
+        /* Start the part of the test that is written in assembler. */
+        vRegTest3Asm_NonSecure();
+    }
+
+    /* The following line will only execute if the task parameter
+     * is found to be incorrect. The check task will detect that
+     * the reg test loop counter is not being incremented and flag
+     * an error. */
+    vTaskDelete( NULL );
+}
+/*-----------------------------------------------------------*/
+
+static void prvRegTest4_Task( void * pvParameters )
+{
+    /* Although the reg tests are written in assembly, its entry
+     * point is written in C for convenience of checking that the
+     * task parameter is being passed in correctly. */
+    if( pvParameters == REG_TEST_4_TASK_PARAMETER )
+    {
+        /* Start the part of the test that is written in assembler. */
+        vRegTest4Asm_NonSecure();
+    }
+
+    /* The following line will only execute if the task parameter
+     * is found to be incorrect. The check task will detect that
+     * the reg test loop counter is not being incremented and flag
+     * an error. */
+    vTaskDelete( NULL );
+}
+/*-----------------------------------------------------------*/
+
+static void prvRegTest_Secure_Task( void * pvParameters )
+{
+    /* This task is going to call secure side functions. */
+    portALLOCATE_SECURE_CONTEXT( configMINIMAL_SECURE_STACK_SIZE );
+
+    /* Although the reg tests are written in assembly, its entry
+     * point is written in C for convenience of checking that the
+     * task parameter is being passed in correctly. */
+    if( pvParameters == REG_TEST_SECURE_TASK_PARAMETER )
+    {
+        for( ;; )
+        {
+            /* Call the secure side function. This function populates registers
+             * with known values, then forces a context switch while on the
+             * secure side and then verifies that the contents of the registers
+             * are intact. This ensure that the context restoring mechanism
+             * works properly when the interrupted task was in the middle of a
+             * call to a secure side function. */
+            vRegTestAsm_Secure();
+
+            ulRegTestSecureLoopCounter += 1;
+        }
+    }
+
+    /* The following line will only execute if the task parameter
+     * is found to be incorrect. The check task will detect that
+     * the reg test loop counter is not being incremented and flag
+     * an error. */
+    vTaskDelete( NULL );
+}
+/*-----------------------------------------------------------*/
+
+static void prvRegTest_NonSecureCallback_Task( void * pvParameters )
+{
+    /* This task is going to call secure side functions. */
+    portALLOCATE_SECURE_CONTEXT( configMINIMAL_SECURE_STACK_SIZE );
+
+    /* Although the reg tests are written in assembly, its entry
+     * point is written in C for convenience of checking that the
+     * task parameter is being passed in correctly. */
+    if( pvParameters == REG_TEST_NON_SECURE_CALLBACK_TASK_PARAMETER )
+    {
+        for( ;; )
+        {
+            /* Call the secure side function. This function calls the provided
+             * non-secure callback which in-turn populates registers with
+             * known values, then forces a context switch while on the
+             * non-secure side and then verifies that the contents of the
+             * registers are intact. This ensure that the context restoring
+             * mechanism works properly when the interrupted task was in the
+             * middle of a non-secure callback from the secure side. */
+            vRegTest_NonSecureCallback( vRegTestAsm_NonSecureCallback );
+
+            ulRegTestNonSecureCallbackLoopCounter += 1;
+        }
+    }
+
+    /* The following line will only execute if the task parameter
+     * is found to be incorrect. The check task will detect that
+     * the reg test loop counter is not being incremented and flag
+     * an error. */
+    vTaskDelete( NULL );
+}
+/*-----------------------------------------------------------*/
+
+static void prvCheckTask( void * pvParameters )
+{
+TickType_t xDelayPeriod = NO_ERROR_CHECK_TASK_PERIOD;
+TickType_t xLastExecutionTime;
+unsigned long ulErrorFound = pdFALSE;
+static unsigned long ulLastRegTest1Value = 0, ulLastRegTest2Value = 0;
+static unsigned long ulLastRegTest3Value = 0, ulLastRegTest4Value = 0;
+static unsigned long ulLastRegTestSecureValue = 0, ulLastRegTestNonSecureCallbackValue = 0;
+
+    /* Just to stop compiler warnings. */
+    ( void ) pvParameters;
+
+    /* Initialize xLastExecutionTime so the first call to vTaskDelayUntil()
+     * works correctly. */
+    xLastExecutionTime = xTaskGetTickCount();
+
+    /* Cycle for ever, delaying then checking all the other tasks are still
+     * operating without error.  The onboard LED is toggled on each iteration.
+     * If an error is detected then the delay period is decreased from
+     * mainNO_ERROR_CHECK_TASK_PERIOD to mainERROR_CHECK_TASK_PERIOD.  This has
+     * the effect of increasing the rate at which the onboard LED toggles, and
+     * in so doing gives visual feedback of the system status. */
+    for( ;; )
+    {
+        /* Delay until it is time to execute again. */
+        vTaskDelayUntil( &xLastExecutionTime, xDelayPeriod );
+
+        /* Check that the register test 1 task is still running. */
+        if( ulLastRegTest1Value == ulRegTest1LoopCounter )
+        {
+            ulErrorFound |= 1UL << 0UL;
+        }
+        ulLastRegTest1Value = ulRegTest1LoopCounter;
+
+        /* Check that the register test 2 task is still running. */
+        if( ulLastRegTest2Value == ulRegTest2LoopCounter )
+        {
+            ulErrorFound |= 1UL << 1UL;
+        }
+        ulLastRegTest2Value = ulRegTest2LoopCounter;
+
+        /* Check that the register test 3 task is still running. */
+        if( ulLastRegTest3Value == ulRegTest3LoopCounter )
+        {
+            ulErrorFound |= 1UL << 2UL;
+        }
+        ulLastRegTest3Value = ulRegTest3LoopCounter;
+
+        /* Check that the register test 4 task is still running. */
+        if( ulLastRegTest4Value == ulRegTest4LoopCounter )
+        {
+            ulErrorFound |= 1UL << 3UL;
+        }
+        ulLastRegTest4Value = ulRegTest4LoopCounter;
+
+        /* Check that the register test secure task is still running. */
+        if( ulLastRegTestSecureValue == ulRegTestSecureLoopCounter )
+        {
+            ulErrorFound |= 1UL << 4UL;
+        }
+        ulLastRegTestSecureValue = ulRegTestSecureLoopCounter;
+
+        /* Check that the register test non-secure callback task is
+         * still running. */
+        if( ulLastRegTestNonSecureCallbackValue == ulRegTestNonSecureCallbackLoopCounter )
+        {
+            ulErrorFound |= 1UL << 5UL;
+        }
+        ulLastRegTestNonSecureCallbackValue = ulRegTestNonSecureCallbackLoopCounter;
+
+        if( ulErrorFound != pdFALSE )
+        {
+            /* An error has been detected in one of the tasks. */
+            xDelayPeriod = ERROR_CHECK_TASK_PERIOD;
+
+            printf( "ERROR detected!\r\n" );
+
+            /* Increment error detection count. */
+            ulCheckTaskLoops++;
+        }
+        else
+        {
+            printf( "No errors.\r\n" );
+        }
+    }
+}
+/*-----------------------------------------------------------*/
diff --git a/FreeRTOS/Demo/CORTEX_MPU_M33F_Nordic_NRF9160_SES/NonSecure/reg_tests.h b/FreeRTOS/Demo/CORTEX_MPU_M33F_Nordic_NRF9160_SES/NonSecure/reg_tests.h
new file mode 100644
index 000000000..0837aad72
--- /dev/null
+++ b/FreeRTOS/Demo/CORTEX_MPU_M33F_Nordic_NRF9160_SES/NonSecure/reg_tests.h
@@ -0,0 +1,35 @@
+/*
+ * FreeRTOS V202212.00
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * https://www.FreeRTOS.org
+ * https://github.com/FreeRTOS
+ *
+ */
+
+#ifndef REG_TESTS_H
+#define REG_TESTS_H
+
+/**
+ * @brief Creates all the tasks for reg tests.
+ */
+void vStartRegTests( void );
+
+#endif /* REG_TESTS_H */