/* * FreeRTOS V202112.00 * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. * * Permission is hereby granted, free of charge, to any person obtaining a copy of * this software and associated documentation files (the "Software"), to deal in * the Software without restriction, including without limitation the rights to * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of * the Software, and to permit persons to whom the Software is furnished to do so, * subject to the following conditions: * * The above copyright notice and this permission notice shall be included in all * copies or substantial portions of the Software. * * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. * * https://www.FreeRTOS.org * https://aws.amazon.com/freertos * */ /* Scheduler include files. */ #include "FreeRTOS.h" #include "task.h" /* Interface include files. */ #include "RegTests.h" /* Tasks that implement register tests. */ static void prvRegisterTest1Task( void *pvParameters ); static void prvRegisterTest2Task( void *pvParameters ); static void prvRegisterTest3Task( void *pvParameters ); static void prvRegisterTest4Task( void *pvParameters ); /* Flag that will be latched to pdTRUE should any unexpected behaviour be detected in any of the tasks. */ static volatile BaseType_t xErrorDetected = pdFALSE; /* Counters that are incremented on each cycle of a test. This is used to detect a stalled task - a test that is no longer running. */ static volatile uint32_t ulRegisterTest1Counter = 0; static volatile uint32_t ulRegisterTest2Counter = 0; static volatile uint32_t ulRegisterTest3Counter = 0; static volatile uint32_t ulRegisterTest4Counter = 0; /*-----------------------------------------------------------*/ static void prvRegisterTest1Task( void *pvParameters ) { ( void ) pvParameters; /* 1. Fill the registers stored as part of task context with known values.*/ __asm("reg1_loop: \n" \ " movl xar2, #0xFFFF \n" \ " movl xar3, #0xF0F0 \n" \ " movl xar4, #0x1010 \n" \ " movl xar5, #0x0101 \n" \ " movl xar6, #0x1111 \n" \ " movl xar7, #0x2222 \n" \ ); /* 2. Force a context switch. */ vTaskDelay(0); /* 3. Verify that all the registers contain expected values.*/ /* 4. If all the register contain expected values, increment ulRegisterTest1Counter.*/ __asm(" mov acc, #0xFFFF \n" \ " cmpl acc,@xar2 \n" \ " sb reg1_error_loop,neq \n" \ " mov acc, #0xF0F0 \n" \ " cmpl acc,@xar3 \n" \ " sb reg1_error_loop,neq \n" \ " mov acc, #0x1010 \n" \ " cmpl acc,@xar4 \n" \ " sb reg1_error_loop,neq \n" \ " mov acc, #0x0101 \n" \ " cmpl acc,@xar5 \n" \ " sb reg1_error_loop,neq \n" \ " mov acc, #0x1111 \n" \ " cmpl acc,@xar6 \n" \ " sb reg1_error_loop,neq \n" \ " mov acc, #0x2222 \n" \ " cmpl acc,@xar7 \n" \ " sb reg1_error_loop,neq \n" \ "* Increment the loop counter to indicate this test is still functioning \n" \ " .if __TI_EABI__ \n" \ " movl xar0, #ulRegisterTest1Counter \n" \ " .else \n" \ " movl xar0, #_ulRegisterTest1Counter \n" \ " .endif \n" \ " mov acc, *xar0 \n" \ " add acc, #1 \n" \ " movl *xar0,acc \n" \ " sb reg1_loop,unc \n" \ "reg1_error_loop: \n" \ "* If this line is hit then there was an error in a core register value. \n" \ "*This loop ensures the loop counter variable stops incrementing. \n" \ " sb reg1_error_loop,unc \n" ); } /*-----------------------------------------------------------*/ static void prvRegisterTest2Task( void *pvParameters ) { ( void ) pvParameters; /* 1. Fill the registers stored as part of task context with known values.*/ __asm("reg2_loop: \n" \ " movl xar2, #0x3333 \n" \ " movl xar3, #0x4444 \n" \ " movl xar4, #0x5555 \n" \ " movl xar5, #0x6666 \n" \ " movl xar6, #0x7777 \n" \ " movl xar7, #0x8888 \n" \ ); /* 2. Force a context switch. */ vTaskDelay(0); /* 3. Verify that all the registers contain expected values.*/ /* 4. If all the register contain expected values, increment ulRegisterTest1Counter.*/ __asm(" mov acc, #0x3333 \n" \ " cmpl acc,@xar2 \n" \ " sb reg2_error_loop,neq \n" \ " mov acc, #0x4444 \n" \ " cmpl acc,@xar3 \n" \ " sb reg2_error_loop,neq \n" \ " mov acc, #0x5555 \n" \ " cmpl acc,@xar4 \n" \ " sb reg2_error_loop,neq \n" \ " mov acc, #0x6666 \n" \ " cmpl acc,@xar5 \n" \ " sb reg2_error_loop,neq \n" \ " mov acc, #0x7777 \n" \ " cmpl acc,@xar6 \n" \ " sb reg2_error_loop,neq \n" \ " mov acc, #0x8888 \n" \ " cmpl acc,@xar7 \n" \ " sb reg2_error_loop,neq \n" \ "* Increment the loop counter to indicate this test is still functioning \n" \ " .if __TI_EABI__ \n" \ " movl xar0, #ulRegisterTest2Counter \n" \ " .else \n" \ " movl xar0, #_ulRegisterTest2Counter \n" \ " .endif \n" \ " mov acc, *xar0 \n" \ " add acc, #1 \n" \ " movl *xar0,acc \n" \ " sb reg2_loop,unc \n" \ "reg2_error_loop: \n" \ "* If this line is hit then there was an error in a core register value. \n" \ "*This loop ensures the loop counter variable stops incrementing. \n" \ " sb reg2_error_loop,unc \n" ); } /*-----------------------------------------------------------*/ static void prvRegisterTest3Task( void *pvParameters ) { ( void ) pvParameters; /* 1. Fill the registers stored as part of task context with known values.*/ __asm("reg3_loop: \n" \ " movl xar2, #0x1111 \n" \ " movl xar3, #0x2222 \n" \ " movl xar4, #0x3333 \n" \ " movl xar5, #0xAAAA \n" \ " movl xar6, #0xBBBB \n" \ " movl xar7, #0xCCCC \n" \ ); /* 2. Force a context switch. */ vTaskDelay(0); /* 3. Verify that all the registers contain expected values.*/ /* 4. If all the register contain expected values, increment ulRegisterTest3Counter.*/ __asm(" mov acc, #0x1111 \n" \ " cmpl acc,@xar2 \n" \ " sb reg3_error_loop,neq \n" \ " mov acc, #0x2222 \n" \ " cmpl acc,@xar3 \n" \ " sb reg3_error_loop,neq \n" \ " mov acc, #0x3333 \n" \ " cmpl acc,@xar4 \n" \ " sb reg3_error_loop,neq \n" \ " mov acc, #0xAAAA \n" \ " cmpl acc,@xar5 \n" \ " sb reg3_error_loop,neq \n" \ " mov acc, #0xBBBB \n" \ " cmpl acc,@xar6 \n" \ " sb reg3_error_loop,neq \n" \ " mov acc, #0xCCCC \n" \ " cmpl acc,@xar7 \n" \ " sb reg3_error_loop,neq \n" \ "* Increment the loop counter to indicate this test is still functioning \n" \ " .if __TI_EABI__ \n" \ " movl xar0, #ulRegisterTest3Counter \n" \ " .else \n" \ " movl xar0, #_ulRegisterTest3Counter \n" \ " .endif \n" \ " mov acc, *xar0 \n" \ " add acc, #1 \n" \ " movl *xar0,acc \n" \ " sb reg3_loop,unc \n" \ "reg3_error_loop: \n" \ "* If this line is hit then there was an error in a core register value. \n" \ "*This loop ensures the loop counter variable stops incrementing. \n" \ " sb reg3_error_loop,unc \n" ); } /*-----------------------------------------------------------*/ static void prvRegisterTest4Task( void *pvParameters ) { ( void ) pvParameters; /* 1. Fill the registers stored as part of task context with known values.*/ __asm("reg4_loop: \n" \ " movl xar2, #0xDDDD \n" \ " movl xar3, #0xEEEE \n" \ " movl xar4, #0xFFFF \n" \ " movl xar5, #0x9999 \n" \ " movl xar6, #0x8888 \n" \ " movl xar7, #0x7777 \n" \ ); /* 2. Force a context switch. */ vTaskDelay(0); /* 3. Verify that all the registers contain expected values.*/ /* 4. If all the register contain expected values, increment ulRegisterTest1Counter.*/ __asm(" mov acc, #0xDDDD \n" \ " cmpl acc,@xar2 \n" \ " sb reg4_error_loop,neq \n" \ " mov acc, #0xEEEE \n" \ " cmpl acc,@xar3 \n" \ " sb reg4_error_loop,neq \n" \ " mov acc, #0xFFFF \n" \ " cmpl acc,@xar4 \n" \ " sb reg4_error_loop,neq \n" \ " mov acc, #0x9999 \n" \ " cmpl acc,@xar5 \n" \ " sb reg4_error_loop,neq \n" \ " mov acc, #0x8888 \n" \ " cmpl acc,@xar6 \n" \ " sb reg4_error_loop,neq \n" \ " mov acc, #0x7777 \n" \ " cmpl acc,@xar7 \n" \ " sb reg4_error_loop,neq \n" \ "* Increment the loop counter to indicate this test is still functioning \n" \ " .if __TI_EABI__ \n" \ " movl xar0, #ulRegisterTest4Counter \n" \ " .else \n" \ " movl xar0, #_ulRegisterTest4Counter \n" \ " .endif \n" \ " mov acc, *xar0 \n" \ " add acc, #1 \n" \ " movl *xar0,acc \n" \ " sb reg4_loop,unc \n" \ "reg4_error_loop: \n" \ "* If this line is hit then there was an error in a core register value. \n" \ "*This loop ensures the loop counter variable stops incrementing. \n" \ " sb reg4_error_loop,unc \n" ); } /*-----------------------------------------------------------*/ void vStartRegisterTasks( UBaseType_t uxPriority ) { BaseType_t ret; ret = xTaskCreate( prvRegisterTest1Task, "RegTest1", configMINIMAL_STACK_SIZE, NULL, uxPriority, NULL ); configASSERT( ret == pdPASS ); ret = xTaskCreate( prvRegisterTest2Task, "RegTest2", configMINIMAL_STACK_SIZE, NULL, uxPriority, NULL ); configASSERT( ret == pdPASS ); ret = xTaskCreate( prvRegisterTest3Task, "RegTest3", configMINIMAL_STACK_SIZE, NULL, uxPriority, NULL ); configASSERT( ret == pdPASS ); ret = xTaskCreate( prvRegisterTest4Task, "RegTest4", configMINIMAL_STACK_SIZE, NULL, uxPriority, NULL ); configASSERT( ret == pdPASS ); } /*-----------------------------------------------------------*/ BaseType_t xAreRegisterTasksStillRunning( void ) { static uint32_t ulLastRegisterTest1Counter = 0, ulLastRegisterTest2Counter = 0; static uint32_t ulLastRegisterTest3Counter = 0, ulLastRegisterTest4Counter = 0; /* If the register test task is still running then we expect the loop * counters to have incremented since this function was last called. */ if( ulLastRegisterTest1Counter == ulRegisterTest1Counter ) { xErrorDetected = pdTRUE; } if( ulLastRegisterTest2Counter == ulRegisterTest2Counter ) { xErrorDetected = pdTRUE; } if( ulLastRegisterTest3Counter == ulRegisterTest3Counter ) { xErrorDetected = pdTRUE; } if( ulLastRegisterTest4Counter == ulRegisterTest4Counter ) { xErrorDetected = pdTRUE; } ulLastRegisterTest1Counter = ulRegisterTest1Counter; ulLastRegisterTest2Counter = ulRegisterTest2Counter; ulLastRegisterTest3Counter = ulRegisterTest3Counter; ulLastRegisterTest4Counter = ulRegisterTest4Counter; /* Errors detected in the task itself will have latched xErrorDetected * to true. */ return ( BaseType_t ) !xErrorDetected; } /*-----------------------------------------------------------*/