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/*
FreeRTOS V8.2.0rc1 - Copyright (C) 2014 Real Time Engineers Ltd.
All rights reserved
VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
This file is part of the FreeRTOS distribution.
FreeRTOS is free software; you can redistribute it and/or modify it under
the terms of the GNU General Public License (version 2) as published by the
Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
>>! NOTE: The modification to the GPL is included to allow you to !<<
>>! distribute a combined work that includes FreeRTOS without being !<<
>>! obliged to provide the source code for proprietary components !<<
>>! outside of the FreeRTOS kernel. !<<
FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
FOR A PARTICULAR PURPOSE. Full license text is available on the following
link: http://www.freertos.org/a00114.html
1 tab == 4 spaces!
***************************************************************************
* *
* Having a problem? Start by reading the FAQ "My application does *
* not run, what could be wrong?". Have you defined configASSERT()? *
* *
* http://www.FreeRTOS.org/FAQHelp.html *
* *
***************************************************************************
***************************************************************************
* *
* FreeRTOS provides completely free yet professionally developed, *
* robust, strictly quality controlled, supported, and cross *
* platform software that is more than just the market leader, it *
* is the industry's de facto standard. *
* *
* Help yourself get started quickly while simultaneously helping *
* to support the FreeRTOS project by purchasing a FreeRTOS *
* tutorial book, reference manual, or both: *
* http://www.FreeRTOS.org/Documentation *
* *
***************************************************************************
***************************************************************************
* *
* Investing in training allows your team to be as productive as *
* possible as early as possible, lowering your overall development *
* cost, and enabling you to bring a more robust product to market *
* earlier than would otherwise be possible. Richard Barry is both *
* the architect and key author of FreeRTOS, and so also the world's *
* leading authority on what is the world's most popular real time *
* kernel for deeply embedded MCU designs. Obtaining your training *
* from Richard ensures your team will gain directly from his in-depth *
* product knowledge and years of usage experience. Contact Real Time *
* Engineers Ltd to enquire about the FreeRTOS Masterclass, presented *
* by Richard Barry: http://www.FreeRTOS.org/contact
* *
***************************************************************************
***************************************************************************
* *
* You are receiving this top quality software for free. Please play *
* fair and reciprocate by reporting any suspected issues and *
* participating in the community forum: *
* http://www.FreeRTOS.org/support *
* *
* Thank you! *
* *
***************************************************************************
http://www.FreeRTOS.org - Documentation, books, training, latest versions,
license and Real Time Engineers Ltd. contact details.
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
including FreeRTOS+Trace - an indispensable productivity tool, a DOS
compatible FAT file system, and our tiny thread aware UDP/IP stack.
http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
licenses offer ticketed support, indemnification and commercial middleware.
http://www.SafeRTOS.com - High Integrity Systems also provide a safety
engineered and independently SIL3 certified version for use in safety and
mission critical applications that require provable dependability.
1 tab == 4 spaces!
*/
#include "FreeRTOS.h"
#include "task.h"
/*
* Two test tasks that fill the CPU registers with known values before
* continuously looping round checking that each register still contains its
* expected value. Both tasks use a separate set of values, with an incorrect
* value being found at any time being indicative of an error in the context
* switch mechanism. One of the tasks uses a yield instruction to increase the
* test coverage. The nature of these tasks necessitates that they are written
* in assembly code.
*/
static void vRegTest1( void *pvParameters );
static void vRegTest2( void *pvParameters );
/* Counters used to ensure the tasks are still running. */
static volatile unsigned long ulRegTest1Counter = 0UL, ulRegTest2Counter = 0UL;
/*-----------------------------------------------------------*/
void vStartRegTestTasks( void )
{
xTaskCreate( vRegTest1, "RTest1", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
xTaskCreate( vRegTest2, "RTest1", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
}
/*-----------------------------------------------------------*/
static void vRegTest1( void *pvParameters )
{
__asm volatile
(
" mov r2, #0x02 \n" /* Fill the registers with known values, r0 is always 0 and r1 is the stack pointer. */
" mov r3, #0x03 \n"
" mov r4, #0x04 \n"
" mov r5, #0x05 \n"
" mov r6, #0x06 \n"
" mov r7, #0x07 \n"
" mov r8, #0x08 \n"
" mov r9, #0x09 \n"
" mov r10, #0x0a \n"
" mov r11, #0x0b \n"
" mov r12, #0x0c \n"
" mov r13, #0x0d \n"
" mov r14, #0x0e \n"
" mov r15, #0x0f \n"
" \n"
"reg_check_loop_1: \n"
" trap #31 \n"
" cmp r2, #0x02 \n" /* Check that each register still contains the expected value, jump to an infinite loop if an error is found. */
" bne.s reg_check_error_1 \n"
" cmp r3, #0x03 \n"
" bne.s reg_check_error_1 \n"
" cmp r4, #0x04 \n"
" bne.s reg_check_error_1 \n"
" cmp r5, #0x05 \n"
" bne.s reg_check_error_1 \n"
" cmp r6, #0x06 \n"
" bne.s reg_check_error_1 \n"
" cmp r7, #0x07 \n"
" bne.s reg_check_error_1 \n"
" cmp r8, #0x08 \n"
" bne.s reg_check_error_1 \n"
" cmp r9, #0x09 \n"
" bne.s reg_check_error_1 \n"
" cmp r10, #0x0a \n"
" bne.s reg_check_error_1 \n"
" cmp r11, #0x0b \n"
" bne.s reg_check_error_1 \n"
" cmp r12, #0x0c \n"
" bne.s reg_check_error_1 \n"
" cmp r13, #0x0d \n"
" bne.s reg_check_error_1 \n"
" cmp r14, #0x0e \n"
" bne.s reg_check_error_1 \n"
" cmp r15, #0x0f \n"
" bne.s reg_check_error_1 \n"
" \n"
" ld r2, [r0]+short(ulRegTest1Counter) \n" /* Increment the loop counter to show that this task is still running error free. */
" add r2, #1 \n"
" st r2, [r0]+short(ulRegTest1Counter) \n"
" mov r2, #0x02 \n"
" \n"
" bra.s reg_check_loop_1 \n" /* Do it all again. */
" \n"
"reg_check_error_1: \n"
"bra.s . \n"
);
}
/*-----------------------------------------------------------*/
static void vRegTest2( void *pvParameters )
{
__asm volatile
(
" mov r2, #0x12 \n" /* Fill the registers with known values, r0 is always 0 and r1 is the stack pointer. */
" mov r3, #0x13 \n"
" mov r4, #0x14 \n"
" mov r5, #0x15 \n"
" mov r6, #0x16 \n"
" mov r7, #0x17 \n"
" mov r8, #0x18 \n"
" mov r9, #0x19 \n"
" mov r10, #0x1a \n"
" mov r11, #0x1b \n"
" mov r12, #0x1c \n"
" mov r13, #0x1d \n"
" mov r14, #0x1e \n"
" mov r15, #0x1f \n"
" \n"
"reg_check_loop_2: \n"
" cmp r2, #0x12 \n" /* Check that each register still contains the expected value, jump to an infinite loop if an error is found. */
" bne.s reg_check_error_2 \n"
" cmp r3, #0x13 \n"
" bne.s reg_check_error_2 \n"
" cmp r4, #0x14 \n"
" bne.s reg_check_error_2 \n"
" cmp r5, #0x15 \n"
" bne.s reg_check_error_2 \n"
" cmp r6, #0x16 \n"
" bne.s reg_check_error_2 \n"
" cmp r7, #0x17 \n"
" bne.s reg_check_error_2 \n"
" cmp r8, #0x18 \n"
" bne.s reg_check_error_2 \n"
" cmp r9, #0x19 \n"
" bne.s reg_check_error_2 \n"
" cmp r10, #0x1a \n"
" bne.s reg_check_error_2 \n"
" cmp r11, #0x1b \n"
" bne.s reg_check_error_2 \n"
" cmp r12, #0x1c \n"
" bne.s reg_check_error_2 \n"
" cmp r13, #0x1d \n"
" bne.s reg_check_error_2 \n"
" cmp r14, #0x1e \n"
" bne.s reg_check_error_2 \n"
" cmp r15, #0x1f \n"
" bne.s reg_check_error_2 \n"
" \n"
" ld r2, [r0]+short(ulRegTest2Counter) \n" /* Increment the loop counter to show that this task is still running error free. */
" add r2, #1 \n"
" st r2, [r0]+short(ulRegTest2Counter) \n"
" mov r2, #0x12 \n"
" \n"
" bra.s reg_check_loop_2 \n" /* Do it all again. */
" \n"
"reg_check_error_2: \n"
"bra.s . \n"
);
}
/*-----------------------------------------------------------*/
portBASE_TYPE xAreRegTestTasksStillRunning( void )
{
static unsigned long ulLastCounter1 = 0UL, ulLastCounter2 = 0UL;
long lReturn;
/* Check that both loop counters are still incrementing, indicating that
both reg test tasks are still running error free. */
if( ulLastCounter1 == ulRegTest1Counter )
{
lReturn = pdFAIL;
}
else if( ulLastCounter2 == ulRegTest2Counter )
{
lReturn = pdFAIL;
}
else
{
lReturn = pdPASS;
}
ulLastCounter1 = ulRegTest1Counter;
ulLastCounter2 = ulRegTest2Counter;
return lReturn;
}
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