/* FreeRTOS V8.0.0 - Copyright (C) 2014 Real Time Engineers Ltd. All rights reserved VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. *************************************************************************** * * * FreeRTOS provides completely free yet professionally developed, * * robust, strictly quality controlled, supported, and cross * * platform software that has become a de facto standard. * * * * Help yourself get started quickly and support the FreeRTOS * * project by purchasing a FreeRTOS tutorial book, reference * * manual, or both from: http://www.FreeRTOS.org/Documentation * * * * Thank you! * * * *************************************************************************** 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 from 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?" * * * * http://www.FreeRTOS.org/FAQHelp.html * * * *************************************************************************** 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.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS licenses offer ticketed support, indemnification and 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; }