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Add GCC Reg Tests for CORTEX_MPU_M3_NUCLEO_L152RE_GCC
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kar-rahul-aws committed Mar 29, 2023
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376 changes: 376 additions & 0 deletions FreeRTOS/Demo/CORTEX_MPU_M3_NUCLEO_L152RE_GCC/Demo/reg_tests.c
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/*
* FreeRTOS V202212.00
* 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://github.com/FreeRTOS
*
*/

/* Scheduler includes. */
#include "FreeRTOS.h"
#include "task.h"

/* Reg test includes. */
#include "reg_tests.h"

/* Hardware includes. */
#include "main.h"

/*
* Functions that implement reg test tasks.
*/
static void prvRegTest1Task( void * pvParameters );
static void prvRegTest2Task( void * pvParameters );
static void prvRegTest3Task( void * pvParameters );
static void prvRegTest4Task( void * pvParameters );

/*
* Check task periodically checks that reg tests tasks
* are running fine.
*/
static void prvCheckTask( void * pvParameters );

/*
* Functions implemented in assembly.
*/
extern void vRegTest1Asm( void ) __attribute__( ( naked ) );
extern void vRegTest2Asm( void ) __attribute__( ( naked ) );
extern void vRegTest3Asm( void ) __attribute__( ( naked ) );
extern void vRegTest4Asm( void ) __attribute__( ( naked ) );
/*-----------------------------------------------------------*/

/*
* Priority of the check task.
*/
#define CHECK_TASK_PRIORITY ( configMAX_PRIORITIES - 1 )

/*
* Frequency of check task.
*/
#define NO_ERROR_CHECK_TASK_PERIOD ( pdMS_TO_TICKS( 5000UL ) )
#define ERROR_CHECK_TASK_PERIOD ( pdMS_TO_TICKS( 200UL ) )

/*
* Parameters passed to reg test tasks.
*/
#define REG_TEST_TASK_1_PARAMETER ( ( void * ) 0x12345678 )
#define REG_TEST_TASK_2_PARAMETER ( ( void * ) 0x87654321 )
#define REG_TEST_TASK_3_PARAMETER ( ( void * ) 0x12348765 )
#define REG_TEST_TASK_4_PARAMETER ( ( void * ) 0x43215678 )
/*-----------------------------------------------------------*/

/*
* The following variables are used to communicate the status of the register
* test tasks to the check task. If the variables keep incrementing, then the
* register test tasks have not discovered any errors. If a variable stops
* incrementing, then an error has been found.
*/
volatile unsigned long ulRegTest1LoopCounter = 0UL, ulRegTest2LoopCounter = 0UL;
volatile unsigned long ulRegTest3LoopCounter = 0UL, ulRegTest4LoopCounter = 0UL;

/**
* Counter to keep a count of how may times the check task loop has detected
* error.
*/
volatile unsigned long ulCheckTaskLoops = 0UL;
/*-----------------------------------------------------------*/

void vStartRegTests( void )
{
static StackType_t xRegTest1TaskStack[ configMINIMAL_STACK_SIZE ] __attribute__( ( aligned( configMINIMAL_STACK_SIZE * sizeof( StackType_t ) ) ) );
static StackType_t xRegTest2TaskStack[ configMINIMAL_STACK_SIZE ] __attribute__( ( aligned( configMINIMAL_STACK_SIZE * sizeof( StackType_t ) ) ) );
static StackType_t xRegTest3TaskStack[ configMINIMAL_STACK_SIZE ] __attribute__( ( aligned( configMINIMAL_STACK_SIZE * sizeof( StackType_t ) ) ) );
static StackType_t xRegTest4TaskStack[ configMINIMAL_STACK_SIZE ] __attribute__( ( aligned( configMINIMAL_STACK_SIZE * sizeof( StackType_t ) ) ) );
static StackType_t xCheckTaskStack[ configMINIMAL_STACK_SIZE ] __attribute__( ( aligned( configMINIMAL_STACK_SIZE * sizeof( StackType_t ) ) ) );

TaskParameters_t xRegTest1TaskParameters =
{
.pvTaskCode = prvRegTest1Task,
.pcName = "RegTest1",
.usStackDepth = configMINIMAL_STACK_SIZE,
.pvParameters = REG_TEST_TASK_1_PARAMETER,
.uxPriority = tskIDLE_PRIORITY | portPRIVILEGE_BIT,
.puxStackBuffer = xRegTest1TaskStack,
.xRegions = {
{ 0, 0, 0 },
{ 0, 0, 0 },
{ 0, 0, 0 },
{ 0, 0, 0 },
{ 0, 0, 0 },
{ 0, 0, 0 },
{ 0, 0, 0 },
{ 0, 0, 0 },
{ 0, 0, 0 },
{ 0, 0, 0 },
{ 0, 0, 0 }
}
};
TaskParameters_t xRegTest2TaskParameters =
{
.pvTaskCode = prvRegTest2Task,
.pcName = "RegTest2",
.usStackDepth = configMINIMAL_STACK_SIZE,
.pvParameters = REG_TEST_TASK_2_PARAMETER,
.uxPriority = tskIDLE_PRIORITY | portPRIVILEGE_BIT,
.puxStackBuffer = xRegTest2TaskStack,
.xRegions = {
{ 0, 0, 0 },
{ 0, 0, 0 },
{ 0, 0, 0 },
{ 0, 0, 0 },
{ 0, 0, 0 },
{ 0, 0, 0 },
{ 0, 0, 0 },
{ 0, 0, 0 },
{ 0, 0, 0 },
{ 0, 0, 0 },
{ 0, 0, 0 }
}
};
TaskParameters_t xRegTest3TaskParameters =
{
.pvTaskCode = prvRegTest3Task,
.pcName = "RegTest3",
.usStackDepth = configMINIMAL_STACK_SIZE,
.pvParameters = REG_TEST_TASK_3_PARAMETER,
.uxPriority = tskIDLE_PRIORITY | portPRIVILEGE_BIT,
.puxStackBuffer = xRegTest3TaskStack,
.xRegions = {
{ 0, 0, 0 },
{ 0, 0, 0 },
{ 0, 0, 0 },
{ 0, 0, 0 },
{ 0, 0, 0 },
{ 0, 0, 0 },
{ 0, 0, 0 },
{ 0, 0, 0 },
{ 0, 0, 0 },
{ 0, 0, 0 },
{ 0, 0, 0 }
}
};
TaskParameters_t xRegTest4TaskParameters =
{
.pvTaskCode = prvRegTest4Task,
.pcName = "RegTest4",
.usStackDepth = configMINIMAL_STACK_SIZE,
.pvParameters = REG_TEST_TASK_4_PARAMETER,
.uxPriority = tskIDLE_PRIORITY | portPRIVILEGE_BIT,
.puxStackBuffer = xRegTest4TaskStack,
.xRegions = {
{ 0, 0, 0 },
{ 0, 0, 0 },
{ 0, 0, 0 },
{ 0, 0, 0 },
{ 0, 0, 0 },
{ 0, 0, 0 },
{ 0, 0, 0 },
{ 0, 0, 0 },
{ 0, 0, 0 },
{ 0, 0, 0 },
{ 0, 0, 0 }
}
};

TaskParameters_t xCheckTaskParameters =
{
.pvTaskCode = prvCheckTask,
.pcName = "Check",
.usStackDepth = configMINIMAL_STACK_SIZE,
.pvParameters = NULL,
.uxPriority = ( CHECK_TASK_PRIORITY | portPRIVILEGE_BIT ),
.puxStackBuffer = xCheckTaskStack,
.xRegions = {
{ 0, 0, 0 },
{ 0, 0, 0 },
{ 0, 0, 0 },
{ 0, 0, 0 },
{ 0, 0, 0 },
{ 0, 0, 0 },
{ 0, 0, 0 },
{ 0, 0, 0 },
{ 0, 0, 0 },
{ 0, 0, 0 },
{ 0, 0, 0 }
}
};

xTaskCreateRestricted( &( xRegTest1TaskParameters ), NULL );
xTaskCreateRestricted( &( xRegTest2TaskParameters ), NULL );
xTaskCreateRestricted( &( xRegTest3TaskParameters ), NULL );
xTaskCreateRestricted( &( xRegTest4TaskParameters ), NULL );
xTaskCreateRestricted( &( xCheckTaskParameters ), NULL );
}
/*-----------------------------------------------------------*/

static void prvRegTest1Task( void * pvParameters )
{
/* Although the reg tests are written in assembly, its entry
* point is written in C for convenience of checking that the
* task parameter is being passed in correctly. */
if( pvParameters == REG_TEST_TASK_1_PARAMETER )
{
/* Start the part of the test that is written in assembler. */
vRegTest1Asm();
}

/* The following line will only execute if the task parameter
* is found to be incorrect. The check task will detect that
* the reg test loop counter is not being incremented and flag
* an error. */
vTaskDelete( NULL );
}
/*-----------------------------------------------------------*/

static void prvRegTest2Task( void * pvParameters )
{
/* Although the reg tests are written in assembly, its entry
* point is written in C for convenience of checking that the
* task parameter is being passed in correctly. */
if( pvParameters == REG_TEST_TASK_2_PARAMETER )
{
/* Start the part of the test that is written in assembler. */
vRegTest2Asm();
}

/* The following line will only execute if the task parameter
* is found to be incorrect. The check task will detect that
* the reg test loop counter is not being incremented and flag
* an error. */
vTaskDelete( NULL );
}
/*-----------------------------------------------------------*/

static void prvRegTest3Task( void * pvParameters )
{
/* Although the reg tests are written in assembly, its entry
* point is written in C for convenience of checking that the
* task parameter is being passed in correctly. */
if( pvParameters == REG_TEST_TASK_3_PARAMETER )
{
/* Start the part of the test that is written in assembler. */
vRegTest3Asm();
}

/* The following line will only execute if the task parameter
* is found to be incorrect. The check task will detect that
* the reg test loop counter is not being incremented and flag
* an error. */
vTaskDelete( NULL );
}
/*-----------------------------------------------------------*/

static void prvRegTest4Task( void * pvParameters )
{
/* Although the reg tests are written in assembly, its entry
* point is written in C for convenience of checking that the
* task parameter is being passed in correctly. */
if( pvParameters == REG_TEST_TASK_4_PARAMETER )
{
/* Start the part of the test that is written in assembler. */
vRegTest4Asm();
}

/* The following line will only execute if the task parameter
* is found to be incorrect. The check task will detect that
* the reg test loop counter is not being incremented and flag
* an error. */
vTaskDelete( NULL );
}
/*-----------------------------------------------------------*/

static void prvCheckTask( void * pvParameters )
{
TickType_t xDelayPeriod = NO_ERROR_CHECK_TASK_PERIOD;
TickType_t xLastExecutionTime;
unsigned long ulErrorFound = pdFALSE;
static unsigned long ulLastRegTest1Value = 0, ulLastRegTest2Value = 0;
static unsigned long ulLastRegTest3Value = 0, ulLastRegTest4Value = 0;

/* Just to stop compiler warnings. */
( void ) pvParameters;

/* Initialize xLastExecutionTime so the first call to vTaskDelayUntil()
* works correctly. */
xLastExecutionTime = xTaskGetTickCount();

/* Cycle for ever, delaying then checking all the other tasks are still
* operating without error. The onboard LED is toggled on each iteration.
* If an error is detected then the delay period is decreased from
* mainNO_ERROR_CHECK_TASK_PERIOD to mainERROR_CHECK_TASK_PERIOD. This has
* the effect of increasing the rate at which the onboard LED toggles, and
* in so doing gives visual feedback of the system status. */
for( ;; )
{
/* Delay until it is time to execute again. */
vTaskDelayUntil( &xLastExecutionTime, xDelayPeriod );

/* Check that the register test 1 task is still running. */
if( ulLastRegTest1Value == ulRegTest1LoopCounter )
{
ulErrorFound |= 1UL << 0UL;
}
ulLastRegTest1Value = ulRegTest1LoopCounter;

/* Check that the register test 2 task is still running. */
if( ulLastRegTest2Value == ulRegTest2LoopCounter )
{
ulErrorFound |= 1UL << 1UL;
}
ulLastRegTest2Value = ulRegTest2LoopCounter;

/* Check that the register test 3 task is still running. */
if( ulLastRegTest3Value == ulRegTest3LoopCounter )
{
ulErrorFound |= 1UL << 2UL;
}
ulLastRegTest3Value = ulRegTest3LoopCounter;

/* Check that the register test 4 task is still running. */
if( ulLastRegTest4Value == ulRegTest4LoopCounter )
{
ulErrorFound |= 1UL << 3UL;
}
ulLastRegTest4Value = ulRegTest4LoopCounter;


/* Toggle the green LED to give an indication of the system status.
* If the LED toggles every NO_ERROR_CHECK_TASK_PERIOD milliseconds
* then everything is ok. A faster toggle indicates an error. */
HAL_GPIO_TogglePin( LD1_GPIO_Port, LD1_Pin );

if( ulErrorFound != pdFALSE )
{
/* An error has been detected in one of the tasks - flash the LED
* at a higher frequency to give visible feedback that something has
* gone wrong (it might just be that the loop back connector required
* by the comtest tasks has not been fitted). */
xDelayPeriod = ERROR_CHECK_TASK_PERIOD;

/* Turn on Red LED to indicate error. */
HAL_GPIO_WritePin( LD3_GPIO_Port, LD3_Pin, GPIO_PIN_SET );

/* Increment error detection count. */
ulCheckTaskLoops++;
}
}
}
/*-----------------------------------------------------------*/
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