2 FreeRTOS V6.0.5 - Copyright (C) 2010 Real Time Engineers Ltd.
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4 ***************************************************************************
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8 * + New to FreeRTOS, *
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9 * + Wanting to learn FreeRTOS or multitasking in general quickly *
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10 * + Looking for basic training, *
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11 * + Wanting to improve your FreeRTOS skills and productivity *
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13 * then take a look at the FreeRTOS eBook *
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15 * "Using the FreeRTOS Real Time Kernel - a Practical Guide" *
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16 * http://www.FreeRTOS.org/Documentation *
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18 * A pdf reference manual is also available. Both are usually delivered *
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19 * to your inbox within 20 minutes to two hours when purchased between 8am *
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20 * and 8pm GMT (although please allow up to 24 hours in case of *
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21 * exceptional circumstances). Thank you for your support! *
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23 ***************************************************************************
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25 This file is part of the FreeRTOS distribution.
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27 FreeRTOS is free software; you can redistribute it and/or modify it under
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28 the terms of the GNU General Public License (version 2) as published by the
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29 Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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30 ***NOTE*** The exception to the GPL is included to allow you to distribute
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31 a combined work that includes FreeRTOS without being obliged to provide the
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32 source code for proprietary components outside of the FreeRTOS kernel.
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33 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT
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34 ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
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35 FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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36 more details. You should have received a copy of the GNU General Public
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37 License and the FreeRTOS license exception along with FreeRTOS; if not it
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38 can be viewed here: http://www.freertos.org/a00114.html and also obtained
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39 by writing to Richard Barry, contact details for whom are available on the
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44 http://www.FreeRTOS.org - Documentation, latest information, license and
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47 http://www.SafeRTOS.com - A version that is certified for use in safety
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50 http://www.OpenRTOS.com - Commercial support, development, porting,
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51 licensing and training services.
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54 #include "FreeRTOS.h"
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58 * Two test tasks that fill the CPU registers with known values before
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59 * continuously looping round checking that each register still contains its
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60 * expected value. Both tasks use a separate set of values, with an incorrect
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61 * value being found at any time being indicative of an error in the context
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62 * switch mechanism. One of the tasks uses a yield instruction to increase the
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63 * test coverage. The nature of these tasks necessitates that they are written
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66 static void vRegTest1( void *pvParameters );
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67 static void vRegTest2( void *pvParameters );
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69 /* Counters used to ensure the tasks are still running. */
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70 static volatile unsigned long ulRegTest1Counter = 0UL, ulRegTest2Counter = 0UL;
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72 /*-----------------------------------------------------------*/
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74 void vStartRegTestTasks( void )
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76 xTaskCreate( vRegTest1, ( signed char * ) "RTest1", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
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77 // xTaskCreate( vRegTest2, ( signed char * ) "RTest2", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
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79 /*-----------------------------------------------------------*/
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81 static void vRegTest1( void *pvParameters )
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83 __asm__ __volatile__
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85 /* Fill the registers with known values. */
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92 " mov r6, 6 \n" /* r7 is the frame pointer. */
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95 " mov r12, 12 \n" /* r13 is the stack pointer, and r14 the link register. */
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97 "reg_check_loop_1: \n"
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99 " mov r8, 8 \n" /* Reset the registers that are likely to be clobbered when incrementing the check variable. */
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103 " brne reg_check_error_1 \n"
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105 " brne reg_check_error_1 \n"
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106 " cp.w r2, 2 \n" /* Check that each register still contains the expected value, jump to an infinite loop if an error is found. */
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107 " brne reg_check_error_1 \n"
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109 " brne reg_check_error_1 \n"
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111 " brne reg_check_error_1 \n"
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113 " brne reg_check_error_1 \n"
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115 " brne reg_check_error_1 \n"
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117 " brne reg_check_error_1 \n"
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119 " brne reg_check_error_1 \n"
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121 " brne reg_check_error_1 \n"
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123 " brne reg_check_error_1 \n"
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125 " brne reg_check_error_1 \n"
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127 " ld.w r8, ulRegTest1CounterConst \n"
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128 " ld.w r8, r8[ 0x00 ] \n"
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129 " sub r9, r8, -1 \n"
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130 " ld.w r8, ulRegTest1CounterConst \n"
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131 " st.w r8[ 0x00 ], r9 \n"
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133 " bral reg_check_loop_1 \n"
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135 "reg_check_error_1: \n"
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136 " bral . \n" /* If an error is discovered, just loop here so the check variable stops incrementing. */
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138 "ulRegTest1CounterConst: .word ulRegTest1Counter \n"
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142 /*-----------------------------------------------------------*/
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145 static void vRegTest2( void *pvParameters )
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149 " mov r2, #0x12 \n" /* Fill the registers with known values, r0 is always 0 and r1 is the stack pointer. */
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150 " mov r3, #0x13 \n"
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151 " mov r4, #0x14 \n"
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152 " mov r5, #0x15 \n"
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153 " mov r6, #0x16 \n"
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154 " mov r7, #0x17 \n"
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155 " mov r8, #0x18 \n"
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156 " mov r9, #0x19 \n"
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157 " mov r10, #0x1a \n"
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158 " mov r11, #0x1b \n"
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159 " mov r12, #0x1c \n"
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160 " mov r13, #0x1d \n"
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161 " mov r14, #0x1e \n"
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162 " mov r15, #0x1f \n"
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164 "reg_check_loop_2: \n"
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165 " cp.w r2, #0x12 \n" /* Check that each register still contains the expected value, jump to an infinite loop if an error is found. */
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166 " brne reg_check_error_2 \n"
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167 " cp.w r3, #0x13 \n"
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168 " brne reg_check_error_2 \n"
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169 " cp.w r4, #0x14 \n"
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170 " brne reg_check_error_2 \n"
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171 " cp.w r5, #0x15 \n"
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172 " brne reg_check_error_2 \n"
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173 " cp.w r6, #0x16 \n"
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174 " brne reg_check_error_2 \n"
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175 " cp.w r7, #0x17 \n"
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176 " brne reg_check_error_2 \n"
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177 " cp.w r8, #0x18 \n"
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178 " brne reg_check_error_2 \n"
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179 " cp.w r9, #0x19 \n"
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180 " brne reg_check_error_2 \n"
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181 " cp.w r10, #0x1a \n"
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182 " brne reg_check_error_2 \n"
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183 " cp.w r11, #0x1b \n"
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184 " brne reg_check_error_2 \n"
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185 " cp.w r12, #0x1c \n"
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186 " brne reg_check_error_2 \n"
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187 " cp.w r13, #0x1d \n"
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188 " brne reg_check_error_2 \n"
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189 " cp.w r14, #0x1e \n"
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190 " brne reg_check_error_2 \n"
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191 " cp.w r15, #0x1f \n"
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192 " brne reg_check_error_2 \n"
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194 " ld r2, [r0]+short(ulRegTest2Counter) \n" /* Increment the loop counter to show that this task is still running error free. */
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196 " st r2, [r0]+short(ulRegTest2Counter) \n"
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197 " mov r2, #0x12 \n"
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199 " bra.s reg_check_loop_2 \n" /* Do it all again. */
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201 "reg_check_error_2: \n"
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205 /*-----------------------------------------------------------*/
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208 portBASE_TYPE xAreRegTestTasksStillRunning( void )
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210 static unsigned long ulLastCounter1 = 0UL, ulLastCounter2 = 0UL;
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213 /* Check that both loop counters are still incrementing, indicating that
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214 both reg test tasks are still running error free. */
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215 if( ulLastCounter1 == ulRegTest1Counter )
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219 // else if( ulLastCounter2 == ulRegTest2Counter )
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221 // lReturn = pdFAIL;
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228 ulLastCounter1 = ulRegTest1Counter;
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229 ulLastCounter2 = ulRegTest2Counter;
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