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/*
FreeRTOS V9.0.0rc1 - Copyright (C) 2016 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
***************************************************************************
* *
* 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 *
* *
***************************************************************************
http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
the FAQ page "My application does not run, what could be wrong?". Have you
defined configASSERT()?
http://www.FreeRTOS.org/support - In return for receiving this top quality
embedded software for free we request you assist our global community by
participating in the support forum.
http://www.FreeRTOS.org/training - Investing in training allows your team to
be as productive as possible as early as possible. Now you can receive
FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
Ltd, and the world's leading authority on the world's leading RTOS.
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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