diff options
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="$(ProjectDir)/Nordic_Code/nRF/XML/nrf9160_Registers.xml" debug_stack_pointer_start="__stack_end__" debug_start_from_entry_point_symbol="No" @@ -39,39 +44,21 @@ project_type="Executable" target_reset_script="Reset();" target_trace_initialize_script="EnableTrace("$(TraceInterfaceType)")" /> - <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=$(PackagesDir)/nRF/Source/nrf9160_Vectors.s;DeviceFamily=nRF;Target=nRF9160_xxAA" project_directory="" project_type="Executable" target_reset_script="Reset();" target_trace_initialize_script="EnableTrace("$(TraceInterfaceType)")" /> + <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=$(PackagesDir)/nRF/Source/nrf9160_Vectors.s;DeviceFamily=nRF;Target=nRF9160_xxAA" project_directory="" project_type="Executable" target_reset_script="Reset();" target_trace_initialize_script="EnableTrace("$(TraceInterfaceType)")" /> + <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 */ |