From 87a85a8ee5de839c33386092562f78e090f12d39 Mon Sep 17 00:00:00 2001 From: Gaurav-Aggarwal-AWS <33462878+aggarg@users.noreply.github.com> Date: Mon, 24 Apr 2023 11:14:18 +0530 Subject: Add reg tests to nRF9160 projects (#1001) Signed-off-by: Gaurav Aggarwal --- .../FreeRTOSDemo.emProject | 81 ++-- .../Source/main.c | 4 + .../Source/reg_tests.c | 354 +++++++++++++++ .../Source/reg_tests.h | 35 ++ .../FreeRTOSDemo.emProject | 194 ++++---- .../NonSecure/main_ns.c | 3 + .../NonSecure/reg_tests.c | 498 +++++++++++++++++++++ .../NonSecure/reg_tests.h | 35 ++ 8 files changed, 1072 insertions(+), 132 deletions(-) create mode 100644 FreeRTOS/Demo/CORTEX_MPU_M33F_NTZ_Nordic_NRF9160_SES/Source/reg_tests.c create mode 100644 FreeRTOS/Demo/CORTEX_MPU_M33F_NTZ_Nordic_NRF9160_SES/Source/reg_tests.h create mode 100644 FreeRTOS/Demo/CORTEX_MPU_M33F_Nordic_NRF9160_SES/NonSecure/reg_tests.c create mode 100644 FreeRTOS/Demo/CORTEX_MPU_M33F_Nordic_NRF9160_SES/NonSecure/reg_tests.h 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 @@ + - - - - - - - - - - - - - - - - - - - + + - - - + + + + + + - @@ -92,10 +79,11 @@ + - + @@ -109,17 +97,34 @@ - - + + + + + + + + + + + + + + + + + + + - - - + + + + + - 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 + +/* 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 @@ - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + - @@ -65,38 +123,12 @@ - - - - - - - - - - - - - - - - - - - - - - - - + + + - - + + + + + + + + + + + + + + + + + + + + + + + + + + @@ -161,58 +218,7 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + 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 + +/* 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 */ -- cgit v1.2.1