2 FreeRTOS V7.4.0 - Copyright (C) 2013 Real Time Engineers Ltd.
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4 FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME. PLEASE VISIT
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5 http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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7 ***************************************************************************
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9 * FreeRTOS tutorial books are available in pdf and paperback. *
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10 * Complete, revised, and edited pdf reference manuals are also *
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13 * Purchasing FreeRTOS documentation will not only help you, by *
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14 * ensuring you get running as quickly as possible and with an *
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15 * in-depth knowledge of how to use FreeRTOS, it will also help *
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16 * the FreeRTOS project to continue with its mission of providing *
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17 * professional grade, cross platform, de facto standard solutions *
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18 * for microcontrollers - completely free of charge! *
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20 * >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
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22 * Thank you for using FreeRTOS, and thank you for your support! *
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24 ***************************************************************************
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27 This file is part of the FreeRTOS distribution.
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29 FreeRTOS is free software; you can redistribute it and/or modify it under
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30 the terms of the GNU General Public License (version 2) as published by the
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31 Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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33 >>>>>>NOTE<<<<<< The modification to the GPL is included to allow you to
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34 distribute a combined work that includes FreeRTOS without being obliged to
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35 provide the source code for proprietary components outside of the FreeRTOS
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38 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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39 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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40 FOR A PARTICULAR PURPOSE. See the GNU General Public License for more
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41 details. You should have received a copy of the GNU General Public License
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42 and the FreeRTOS license exception along with FreeRTOS; if not itcan be
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43 viewed here: http://www.freertos.org/a00114.html and also obtained by
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44 writing to Real Time Engineers Ltd., contact details for whom are available
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45 on the FreeRTOS WEB site.
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49 ***************************************************************************
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51 * Having a problem? Start by reading the FAQ "My application does *
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52 * not run, what could be wrong?" *
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54 * http://www.FreeRTOS.org/FAQHelp.html *
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56 ***************************************************************************
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59 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
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60 license and Real Time Engineers Ltd. contact details.
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62 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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63 including FreeRTOS+Trace - an indispensable productivity tool, and our new
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64 fully thread aware and reentrant UDP/IP stack.
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66 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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67 Integrity Systems, who sell the code with commercial support,
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68 indemnification and middleware, under the OpenRTOS brand.
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70 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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71 engineered and independently SIL3 certified version for use in safety and
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72 mission critical applications that require provable dependability.
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75 #include "FreeRTOS.h"
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79 * Two test tasks that fill the CPU registers with known values before
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80 * continuously looping round checking that each register still contains its
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81 * expected value. Both tasks use a separate set of values, with an incorrect
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82 * value being found at any time being indicative of an error in the context
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83 * switch mechanism. One of the tasks uses a yield instruction to increase the
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84 * test coverage. The nature of these tasks necessitates that they are written
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87 static void vRegTest1( void *pvParameters );
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88 static void vRegTest2( void *pvParameters );
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91 * A task that tests the management of the Interrupt Controller (IC) during a
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92 * context switch. The state of the IC current mask level must be maintained
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93 * across context switches. Also, yields must be able to be performed when the
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94 * interrupt controller mask is not zero. This task tests both these
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97 static void prvICCheck1Task( void *pvParameters );
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99 /* Counters used to ensure the tasks are still running. */
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100 static volatile unsigned long ulRegTest1Counter = 0UL, ulRegTest2Counter = 0UL, ulICTestCounter = 0UL;
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102 /* Handle to the task that checks the interrupt controller behaviour. This is
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103 used by the traceTASK_SWITCHED_OUT() macro, which is defined in
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104 FreeRTOSConfig.h and can be removed - it is just for the purpose of this test. */
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105 xTaskHandle xICTestTask = NULL;
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107 /* Variable that gets set to pdTRUE by traceTASK_SWITCHED_OUT each time
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108 is switched out. */
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109 volatile unsigned long ulTaskSwitchedOut;
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110 /*-----------------------------------------------------------*/
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112 void vStartRegTestTasks( void )
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114 xTaskCreate( vRegTest1, ( signed char * ) "RTest1", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
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115 xTaskCreate( vRegTest2, ( signed char * ) "RTest1", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
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116 xTaskCreate( prvICCheck1Task, ( signed char * ) "ICCheck", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, &xICTestTask );
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118 /*-----------------------------------------------------------*/
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120 static void vRegTest1( void *pvParameters )
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124 " mov r2, #0x02 \n" /* Fill the registers with known values, r0 is always 0 and r1 is the stack pointer. */
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125 " mov r3, #0x03 \n"
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126 " mov r4, #0x04 \n"
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127 " mov r5, #0x05 \n"
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128 " mov r6, #0x06 \n"
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129 " mov r7, #0x07 \n"
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130 " mov r8, #0x08 \n"
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131 " mov r9, #0x09 \n"
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132 " mov r10, #0x0a \n"
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133 " mov r11, #0x0b \n"
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134 " mov r12, #0x0c \n"
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135 " mov r13, #0x0d \n"
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136 " mov r14, #0x0e \n"
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137 " mov r15, #0x0f \n"
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139 "reg_check_loop_1: \n"
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141 " cmp r2, #0x02 \n" /* Check that each register still contains the expected value, jump to an infinite loop if an error is found. */
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142 " bne.s reg_check_error_1 \n"
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143 " cmp r3, #0x03 \n"
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144 " bne.s reg_check_error_1 \n"
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145 " cmp r4, #0x04 \n"
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146 " bne.s reg_check_error_1 \n"
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147 " cmp r5, #0x05 \n"
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148 " bne.s reg_check_error_1 \n"
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149 " cmp r6, #0x06 \n"
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150 " bne.s reg_check_error_1 \n"
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151 " cmp r7, #0x07 \n"
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152 " bne.s reg_check_error_1 \n"
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153 " cmp r8, #0x08 \n"
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154 " bne.s reg_check_error_1 \n"
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155 " cmp r9, #0x09 \n"
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156 " bne.s reg_check_error_1 \n"
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157 " cmp r10, #0x0a \n"
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158 " bne.s reg_check_error_1 \n"
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159 " cmp r11, #0x0b \n"
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160 " bne.s reg_check_error_1 \n"
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161 " cmp r12, #0x0c \n"
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162 " bne.s reg_check_error_1 \n"
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163 " cmp r13, #0x0d \n"
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164 " bne.s reg_check_error_1 \n"
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165 " cmp r14, #0x0e \n"
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166 " bne.s reg_check_error_1 \n"
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167 " cmp r15, #0x0f \n"
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168 " bne.s reg_check_error_1 \n"
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170 " ld r2, [r0]+short(ulRegTest1Counter) \n" /* Increment the loop counter to show that this task is still running error free. */
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172 " st r2, [r0]+short(ulRegTest1Counter) \n"
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173 " mov r2, #0x02 \n"
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175 " bra.s reg_check_loop_1 \n" /* Do it all again. */
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177 "reg_check_error_1: \n"
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181 /*-----------------------------------------------------------*/
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183 static void vRegTest2( void *pvParameters )
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187 " mov r2, #0x12 \n" /* Fill the registers with known values, r0 is always 0 and r1 is the stack pointer. */
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188 " mov r3, #0x13 \n"
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189 " mov r4, #0x14 \n"
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190 " mov r5, #0x15 \n"
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191 " mov r6, #0x16 \n"
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192 " mov r7, #0x17 \n"
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193 " mov r8, #0x18 \n"
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194 " mov r9, #0x19 \n"
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195 " mov r10, #0x1a \n"
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196 " mov r11, #0x1b \n"
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197 " mov r12, #0x1c \n"
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198 " mov r13, #0x1d \n"
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199 " mov r14, #0x1e \n"
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200 " mov r15, #0x1f \n"
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202 "reg_check_loop_2: \n"
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203 " cmp 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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204 " bne.s reg_check_error_2 \n"
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205 " cmp r3, #0x13 \n"
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206 " bne.s reg_check_error_2 \n"
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207 " cmp r4, #0x14 \n"
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208 " bne.s reg_check_error_2 \n"
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209 " cmp r5, #0x15 \n"
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210 " bne.s reg_check_error_2 \n"
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211 " cmp r6, #0x16 \n"
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212 " bne.s reg_check_error_2 \n"
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213 " cmp r7, #0x17 \n"
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214 " bne.s reg_check_error_2 \n"
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215 " cmp r8, #0x18 \n"
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216 " bne.s reg_check_error_2 \n"
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217 " cmp r9, #0x19 \n"
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218 " bne.s reg_check_error_2 \n"
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219 " cmp r10, #0x1a \n"
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220 " bne.s reg_check_error_2 \n"
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221 " cmp r11, #0x1b \n"
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222 " bne.s reg_check_error_2 \n"
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223 " cmp r12, #0x1c \n"
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224 " bne.s reg_check_error_2 \n"
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225 " cmp r13, #0x1d \n"
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226 " bne.s reg_check_error_2 \n"
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227 " cmp r14, #0x1e \n"
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228 " bne.s reg_check_error_2 \n"
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229 " cmp r15, #0x1f \n"
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230 " bne.s reg_check_error_2 \n"
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232 " ld r2, [r0]+short(ulRegTest2Counter) \n" /* Increment the loop counter to show that this task is still running error free. */
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234 " st r2, [r0]+short(ulRegTest2Counter) \n"
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235 " mov r2, #0x12 \n"
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237 " bra.s reg_check_loop_2 \n" /* Do it all again. */
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239 "reg_check_error_2: \n"
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243 /*-----------------------------------------------------------*/
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245 static void prvICCheck1Task( void *pvParameters )
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247 long lICCheckStatus = pdPASS;
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251 /* At this point the interrupt mask should be zero. */
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254 lICCheckStatus = pdFAIL;
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257 /* If we yield here, it should still be 0 when the task next runs.
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258 ulTaskSwitchedOut is just used to check that a switch does actually
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260 ulTaskSwitchedOut = pdFALSE;
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262 if( ( ulTaskSwitchedOut != pdTRUE ) || ( ic->cpl != 0 ) )
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264 lICCheckStatus = pdFAIL;
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267 /* Set the interrupt mask to portSYSTEM_INTERRUPT_PRIORITY_LEVEL + 1,
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268 before checking it is as expected. */
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269 taskENTER_CRITICAL();
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270 if( ic->cpl != ( portSYSTEM_INTERRUPT_PRIORITY_LEVEL + 1 ) )
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272 lICCheckStatus = pdFAIL;
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275 /* If we yield here, it should still be
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276 portSYSTEM_INTERRUPT_PRIORITY_LEVEL + 10 when the task next runs. */
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277 ulTaskSwitchedOut = pdFALSE;
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279 if( ( ulTaskSwitchedOut != pdTRUE ) || ( ic->cpl != ( portSYSTEM_INTERRUPT_PRIORITY_LEVEL + 1 ) ) )
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281 lICCheckStatus = pdFAIL;
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284 /* Return the interrupt mask to its default state. */
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285 taskEXIT_CRITICAL();
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287 /* Just increment a loop counter so the check task knows if this task
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288 is still running or not. */
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289 if( lICCheckStatus == pdPASS )
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295 /*-----------------------------------------------------------*/
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297 portBASE_TYPE xAreRegTestTasksStillRunning( void )
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299 static unsigned long ulLastCounter1 = 0UL, ulLastCounter2 = 0UL, ulLastICTestCounter = 0UL;
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302 /* Check that both loop counters are still incrementing, indicating that
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303 both reg test tasks are still running error free. */
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304 if( ulLastCounter1 == ulRegTest1Counter )
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308 else if( ulLastCounter2 == ulRegTest2Counter )
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312 else if( ulLastICTestCounter == ulICTestCounter )
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321 ulLastCounter1 = ulRegTest1Counter;
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322 ulLastCounter2 = ulRegTest2Counter;
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323 ulLastICTestCounter = ulICTestCounter;
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projects / freertos / blob