diff options
Diffstat (limited to 'FreeRTOS/Demo/CORTEX_MPU_M33F_NTZ_Nordic_NRF9160_SES')
4 files changed, 436 insertions, 38 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 */ |