2 FreeRTOS V7.1.1 - Copyright (C) 2012 Real Time Engineers Ltd.
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5 ***************************************************************************
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7 * FreeRTOS tutorial books are available in pdf and paperback. *
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8 * Complete, revised, and edited pdf reference manuals are also *
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11 * Purchasing FreeRTOS documentation will not only help you, by *
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12 * ensuring you get running as quickly as possible and with an *
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13 * in-depth knowledge of how to use FreeRTOS, it will also help *
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14 * the FreeRTOS project to continue with its mission of providing *
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15 * professional grade, cross platform, de facto standard solutions *
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16 * for microcontrollers - completely free of charge! *
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18 * >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
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20 * Thank you for using FreeRTOS, and thank you for your support! *
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22 ***************************************************************************
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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 modification to the GPL is included to allow you to
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31 distribute a combined work that includes FreeRTOS without being obliged to
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32 provide the source code for proprietary components outside of the FreeRTOS
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33 kernel. FreeRTOS is distributed in the hope that it will be useful, but
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34 WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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35 or 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 ***************************************************************************
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46 * Having a problem? Start by reading the FAQ "My application does *
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47 * not run, what could be wrong? *
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49 * http://www.FreeRTOS.org/FAQHelp.html *
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51 ***************************************************************************
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54 http://www.FreeRTOS.org - Documentation, training, latest information,
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55 license and contact details.
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57 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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58 including FreeRTOS+Trace - an indispensable productivity tool.
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60 Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell
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61 the code with commercial support, indemnification, and middleware, under
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62 the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also
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63 provide a safety engineered and independently SIL3 certified version under
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64 the SafeRTOS brand: http://www.SafeRTOS.com.
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67 /* Scheduler includes. */
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68 #include "FreeRTOS.h"
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72 * The register test task as described in the comments at the top of main-full.c.
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74 void vRegisterTest1( void *pvParameters );
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75 void vRegisterTest2( void *pvParameters );
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77 /* Variables that are incremented on each iteration of the reg test tasks -
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78 provided the tasks have not reported any errors. The check timer inspects these
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79 variables to ensure they are still incrementing as expected. If a variable
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80 stops incrementing then it is likely that its associate task has stalled or
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81 detected an error. */
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82 volatile unsigned long ulRegTest1CycleCount = 0UL, ulRegTest2CycleCount = 0UL;
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84 /*-----------------------------------------------------------*/
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86 void vRegisterTest1( void *pvParameters )
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88 /* This task uses an infinite loop that is implemented in the assembly
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91 First fill the relevant registers with known values. */
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92 asm volatile ( " addi r3, r0, 3 \n\t" \
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93 " addi r4, r0, 4 \n\t" \
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94 " addi r6, r0, 6 \n\t" \
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95 " addi r7, r0, 7 \n\t" \
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96 " addi r8, r0, 8 \n\t" \
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97 " addi r9, r0, 9 \n\t" \
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98 " addi r10, r0, 10 \n\t" \
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99 " addi r11, r0, 11 \n\t" \
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100 " addi r12, r0, 12 \n\t" \
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101 " addi r16, r0, 16 \n\t" \
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102 " addi r19, r0, 19 \n\t" \
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103 " addi r20, r0, 20 \n\t" \
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104 " addi r21, r0, 21 \n\t" \
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105 " addi r22, r0, 22 \n\t" \
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106 " addi r23, r0, 23 \n\t" \
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107 " addi r24, r0, 24 \n\t" \
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108 " addi r25, r0, 25 \n\t" \
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109 " addi r26, r0, 26 \n\t" \
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110 " addi r27, r0, 27 \n\t" \
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111 " addi r28, r0, 28 \n\t" \
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112 " addi r29, r0, 29 \n\t" \
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113 " addi r30, r0, 30 \n\t" \
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114 " addi r31, r0, 31 \n\t"
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117 /* Now test the register values to ensure they contain the same value that
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118 was written to them above. This task will get preempted frequently so
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119 other tasks are likely to have executed since the register values were
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120 written. If any register contains an unexpected value then the task will
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121 branch to Error_Loop_1, which in turn prevents it from incrementing its
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122 loop counter, enabling the check timer to determine that all is not as it
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125 asm volatile ( "Loop_Start_1: \n\t" \
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126 " xori r18, r3, 3 \n\t" \
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127 " bnei r18, Error_Loop_1 \n\t" \
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128 " xori r18, r4, 4 \n\t" \
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129 " bnei r18, Error_Loop_1 \n\t" \
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130 " xori r18, r6, 6 \n\t" \
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131 " bnei r18, Error_Loop_1 \n\t" \
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132 " xori r18, r7, 7 \n\t" \
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133 " bnei r18, Error_Loop_1 \n\t" \
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134 " xori r18, r8, 8 \n\t" \
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135 " bnei r18, Error_Loop_1 \n\t" \
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136 " xori r18, r9, 9 \n\t" \
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137 " bnei r18, Error_Loop_1 \n\t" \
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138 " xori r18, r10, 10 \n\t" \
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139 " bnei r18, Error_Loop_1 \n\t" \
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140 " xori r18, r11, 11 \n\t" \
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141 " bnei r18, Error_Loop_1 \n\t" \
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142 " xori r18, r12, 12 \n\t" \
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143 " bnei r18, Error_Loop_1 \n\t" \
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144 " xori r18, r16, 16 \n\t" \
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145 " bnei r18, Error_Loop_1 \n\t" \
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146 " xori r18, r19, 19 \n\t" \
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147 " bnei r18, Error_Loop_1 \n\t" \
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148 " xori r18, r20, 20 \n\t" \
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149 " bnei r18, Error_Loop_1 \n\t" \
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150 " xori r18, r21, 21 \n\t" \
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151 " bnei r18, Error_Loop_1 \n\t" \
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152 " xori r18, r22, 22 \n\t" \
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153 " bnei r18, Error_Loop_1 \n\t" \
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154 " xori r18, r23, 23 \n\t" \
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155 " bnei r18, Error_Loop_1 \n\t" \
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156 " xori r18, r24, 24 \n\t" \
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157 " bnei r18, Error_Loop_1 \n\t" \
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158 " xori r18, r25, 25 \n\t" \
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159 " bnei r18, Error_Loop_1 \n\t" \
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160 " xori r18, r26, 26 \n\t" \
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161 " bnei r18, Error_Loop_1 \n\t" \
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162 " xori r18, r27, 27 \n\t" \
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163 " bnei r18, Error_Loop_1 \n\t" \
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164 " xori r18, r28, 28 \n\t" \
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165 " bnei r18, Error_Loop_1 \n\t" \
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166 " xori r18, r29, 29 \n\t" \
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167 " bnei r18, Error_Loop_1 \n\t" \
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168 " xori r18, r30, 30 \n\t" \
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169 " bnei r18, Error_Loop_1 \n\t" \
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170 " xori r18, r31, 31 \n\t" \
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171 " bnei r18, Error_Loop_1 \n\t"
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174 /* If this task has not branched to the error loop, then everything is ok,
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175 and the check variable can be incremented to indicate that this task
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176 is still running. Then, brach back to the top to check the register
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178 asm volatile ( " lwi r18, r0, ulRegTest1CycleCount \n\t" \
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179 " addik r18, r18, 1 \n\t" \
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180 " swi r18, r0, ulRegTest1CycleCount \n\t" \
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182 " bri Loop_Start_1 "
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185 /* The test function will branch here if it discovers an error. This part
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186 of the code just sits in a NULL loop, which prevents the check variable
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187 incrementing any further to allow the check timer to recognize that this
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188 test has failed. */
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189 asm volatile ( "Error_Loop_1: \n\t" \
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194 ( void ) pvParameters;
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196 /*-----------------------------------------------------------*/
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198 void vRegisterTest2( void *pvParameters )
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200 /* This task uses an infinite loop that is implemented in the assembly
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203 First fill the registers with known values. */
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204 asm volatile ( " addi r16, r0, 1016 \n\t" \
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205 " addi r19, r0, 1019 \n\t" \
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206 " addi r20, r0, 1020 \n\t" \
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207 " addi r21, r0, 1021 \n\t" \
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208 " addi r22, r0, 1022 \n\t" \
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209 " addi r23, r0, 1023 \n\t" \
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210 " addi r24, r0, 1024 \n\t" \
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211 " addi r25, r0, 1025 \n\t" \
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212 " addi r26, r0, 1026 \n\t" \
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213 " addi r27, r0, 1027 \n\t" \
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214 " addi r28, r0, 1028 \n\t" \
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215 " addi r29, r0, 1029 \n\t" \
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216 " addi r30, r0, 1030 \n\t" \
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217 " addi r31, r0, 1031 \n\t" \
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222 /* Unlike vRegisterTest1, vRegisterTest2 performs a yield. This increases
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223 the test coverage, but does mean volatile registers need re-loading with
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224 their exepcted values. */
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227 /* taskYIELD() could have changed temporaries - set them back to those
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228 expected by the reg test task. */
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229 asm volatile ( " addi r3, r0, 103 \n\t" \
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230 " addi r4, r0, 104 \n\t" \
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231 " addi r6, r0, 106 \n\t" \
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232 " addi r7, r0, 107 \n\t" \
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233 " addi r8, r0, 108 \n\t" \
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234 " addi r9, r0, 109 \n\t" \
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235 " addi r10, r0, 1010 \n\t" \
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236 " addi r11, r0, 1011 \n\t" \
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237 " addi r12, r0, 1012 \n\t" \
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241 /* Now test the register values to ensure they contain the same value that
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242 was written to them above. This task will get preempted frequently so
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243 other tasks are likely to have executed since the register values were
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245 asm volatile ( " xori r18, r3, 103 \n\t" \
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246 " bnei r18, Error_Loop_2 \n\t" \
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247 " xori r18, r4, 104 \n\t" \
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248 " bnei r18, Error_Loop_2 \n\t" \
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249 " xori r18, r6, 106 \n\t" \
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250 " bnei r18, Error_Loop_2 \n\t" \
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251 " xori r18, r7, 107 \n\t" \
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252 " bnei r18, Error_Loop_2 \n\t" \
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253 " xori r18, r8, 108 \n\t" \
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254 " bnei r18, Error_Loop_2 \n\t" \
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255 " xori r18, r9, 109 \n\t" \
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256 " bnei r18, Error_Loop_2 \n\t" \
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257 " xori r18, r10, 1010 \n\t" \
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258 " bnei r18, Error_Loop_2 \n\t" \
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259 " xori r18, r11, 1011 \n\t" \
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260 " bnei r18, Error_Loop_2 \n\t" \
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261 " xori r18, r12, 1012 \n\t" \
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262 " bnei r18, Error_Loop_2 \n\t" \
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263 " xori r18, r16, 1016 \n\t" \
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264 " bnei r18, Error_Loop_2 \n\t" \
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265 " xori r18, r19, 1019 \n\t" \
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266 " bnei r18, Error_Loop_2 \n\t" \
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267 " xori r18, r20, 1020 \n\t" \
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268 " bnei r18, Error_Loop_2 \n\t" \
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269 " xori r18, r21, 1021 \n\t" \
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270 " bnei r18, Error_Loop_2 \n\t" \
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271 " xori r18, r22, 1022 \n\t" \
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272 " bnei r18, Error_Loop_2 \n\t" \
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273 " xori r18, r23, 1023 \n\t" \
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274 " bnei r18, Error_Loop_2 \n\t" \
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275 " xori r18, r24, 1024 \n\t" \
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276 " bnei r18, Error_Loop_2 \n\t" \
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277 " xori r18, r25, 1025 \n\t" \
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278 " bnei r18, Error_Loop_2 \n\t" \
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279 " xori r18, r26, 1026 \n\t" \
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280 " bnei r18, Error_Loop_2 \n\t" \
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281 " xori r18, r27, 1027 \n\t" \
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282 " bnei r18, Error_Loop_2 \n\t" \
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283 " xori r18, r28, 1028 \n\t" \
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284 " bnei r18, Error_Loop_2 \n\t" \
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285 " xori r18, r29, 1029 \n\t" \
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286 " bnei r18, Error_Loop_2 \n\t" \
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287 " xori r18, r30, 1030 \n\t" \
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288 " bnei r18, Error_Loop_2 \n\t" \
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289 " xori r18, r31, 1031 \n\t" \
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290 " bnei r18, Error_Loop_2 \n\t"
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293 /* If this task has not branched to the error loop, then everything is ok,
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294 and the check variable should be incremented to indicate that this task
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295 is still running. Then, brach back to the top to check the registers
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297 asm volatile ( " lwi r18, r0, ulRegTest2CycleCount \n\t" \
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298 " addik r18, r18, 1 \n\t" \
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299 " swi r18, r0, ulRegTest2CycleCount \n\t" \
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301 " bri Loop_Start_2 "
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304 /* The test function will branch here if it discovers an error. This part
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305 of the code just sits in a NULL loop, which prevents the check variable
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306 incrementing any further to allow the check timer to recognize that this
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307 test has failed. */
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308 asm volatile ( "Error_Loop_2: \n\t" \
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313 ( void ) pvParameters;
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