Add Reg tests for CORTEX M33F Keil Simulator Project (#991)
* Add Reg tests for CORTEX M33F Keil Simulator Project * Code review suggestions Signed-off-by: Gaurav Aggarwal <aggarg@amazon.com> * Fix hard fault because of main stack overflow Signed-off-by: Gaurav Aggarwal <aggarg@amazon.com> --------- Signed-off-by: Gaurav Aggarwal <aggarg@amazon.com> Co-authored-by: Gaurav Aggarwal <aggarg@amazon.com>pull/992/head^2
kar-rahul-aws
2 years ago
committed by
GitHub
parent
27cbc7f6a2
commit
457418a723
@ -0,0 +1,433 @@
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/*
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* FreeRTOS V202212.00
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* Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy of
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* this software and associated documentation files (the "Software"), to deal in
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* the Software without restriction, including without limitation the rights to
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* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
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* the Software, and to permit persons to whom the Software is furnished to do so,
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* subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in all
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* copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
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* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
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* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
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* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
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* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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*
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* https://www.FreeRTOS.org
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* https://github.com/FreeRTOS
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*
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*/
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/* Scheduler includes. */
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#include "FreeRTOS.h"
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#include "task.h"
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/* Reg test includes. */
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#include "reg_tests.h"
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#include "reg_test_asm.h"
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#include "secure_reg_test_asm.h"
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/*
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* Functions that implement reg test tasks.
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*/
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static void prvRegTest1_Task( void * pvParameters );
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static void prvRegTest2_Task( void * pvParameters );
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static void prvRegTest3_Task( void * pvParameters );
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static void prvRegTest4_Task( void * pvParameters );
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static void prvRegTest_Secure_Task( void * pvParameters );
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static void prvRegTest_NonSecureCallback_Task( void * pvParameters );
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/*
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* Check task periodically checks that reg tests tasks
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* are running fine.
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*/
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static void prvCheckTask( void * pvParameters );
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/*-----------------------------------------------------------*/
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/*
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* Priority of the check task.
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*/
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#define CHECK_TASK_PRIORITY ( configMAX_PRIORITIES - 1 )
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/*
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* Frequency of check task.
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*/
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#define NO_ERROR_CHECK_TASK_PERIOD ( pdMS_TO_TICKS( 5000UL ) )
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#define ERROR_CHECK_TASK_PERIOD ( pdMS_TO_TICKS( 200UL ) )
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/*
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* Parameters passed to reg test tasks.
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*/
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#define REG_TEST_1_TASK_PARAMETER ( ( void * ) 0x12345678 )
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#define REG_TEST_2_TASK_PARAMETER ( ( void * ) 0x87654321 )
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#define REG_TEST_3_TASK_PARAMETER ( ( void * ) 0x12348765 )
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#define REG_TEST_4_TASK_PARAMETER ( ( void * ) 0x43215678 )
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#define REG_TEST_SECURE_TASK_PARAMETER ( ( void * ) 0x1234ABCD )
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#define REG_TEST_NON_SECURE_CALLBACK_TASK_PARAMETER ( ( void * ) 0xABCD1234 )
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/*-----------------------------------------------------------*/
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/*
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* The following variables are used to communicate the status of the register
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* test tasks to the check task. If the variables keep incrementing, then the
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* register test tasks have not discovered any errors. If a variable stops
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* incrementing, then an error has been found.
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*/
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volatile unsigned long ulRegTest1LoopCounter = 0UL, ulRegTest2LoopCounter = 0UL;
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volatile unsigned long ulRegTest3LoopCounter = 0UL, ulRegTest4LoopCounter = 0UL;
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volatile unsigned long ulRegTestSecureLoopCounter = 0UL;
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volatile unsigned long ulRegTestNonSecureCallbackLoopCounter = 0UL;
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/**
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* Counter to keep a count of how may times the check task loop has detected
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* error.
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*/
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volatile unsigned long ulCheckTaskLoops = 0UL;
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/*-----------------------------------------------------------*/
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void vStartRegTests( void )
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{
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static StackType_t xRegTest1TaskStack[ configMINIMAL_STACK_SIZE ] __attribute__( ( aligned( 32 ) ) );
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static StackType_t xRegTest2TaskStack[ configMINIMAL_STACK_SIZE ] __attribute__( ( aligned( 32 ) ) );
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static StackType_t xRegTest3TaskStack[ configMINIMAL_STACK_SIZE ] __attribute__( ( aligned( 32 ) ) );
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static StackType_t xRegTest4TaskStack[ configMINIMAL_STACK_SIZE ] __attribute__( ( aligned( 32 ) ) );
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static StackType_t xRegTestSecureTaskStack[ configMINIMAL_STACK_SIZE ] __attribute__( ( aligned( 32 ) ) );
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static StackType_t xRegTestNonSecureCallbackTaskStack[ configMINIMAL_STACK_SIZE ] __attribute__( ( aligned( 32 ) ) );
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static StackType_t xCheckTaskStack[ configMINIMAL_STACK_SIZE ] __attribute__( ( aligned( 32 ) ) );
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TaskParameters_t xRegTest1TaskParameters =
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{
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.pvTaskCode = prvRegTest1_Task,
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.pcName = "RegTest1",
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.usStackDepth = configMINIMAL_STACK_SIZE,
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.pvParameters = REG_TEST_1_TASK_PARAMETER,
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.uxPriority = tskIDLE_PRIORITY | portPRIVILEGE_BIT,
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.puxStackBuffer = xRegTest1TaskStack,
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.xRegions = {
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{ 0, 0, 0 },
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{ 0, 0, 0 },
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{ 0, 0, 0 }
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}
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};
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TaskParameters_t xRegTest2TaskParameters =
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{
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.pvTaskCode = prvRegTest2_Task,
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.pcName = "RegTest2",
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.usStackDepth = configMINIMAL_STACK_SIZE,
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.pvParameters = REG_TEST_2_TASK_PARAMETER,
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.uxPriority = tskIDLE_PRIORITY | portPRIVILEGE_BIT,
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.puxStackBuffer = xRegTest2TaskStack,
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.xRegions = {
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{ 0, 0, 0 },
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{ 0, 0, 0 },
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{ 0, 0, 0 }
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}
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};
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TaskParameters_t xRegTest3TaskParameters =
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{
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.pvTaskCode = prvRegTest3_Task,
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.pcName = "RegTest3",
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.usStackDepth = configMINIMAL_STACK_SIZE,
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.pvParameters = REG_TEST_3_TASK_PARAMETER,
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.uxPriority = tskIDLE_PRIORITY | portPRIVILEGE_BIT,
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.puxStackBuffer = xRegTest3TaskStack,
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.xRegions = {
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{ 0, 0, 0 },
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{ 0, 0, 0 },
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{ 0, 0, 0 }
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}
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};
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TaskParameters_t xRegTest4TaskParameters =
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{
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.pvTaskCode = prvRegTest4_Task,
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.pcName = "RegTest4",
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.usStackDepth = configMINIMAL_STACK_SIZE,
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.pvParameters = REG_TEST_4_TASK_PARAMETER,
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.uxPriority = tskIDLE_PRIORITY | portPRIVILEGE_BIT,
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.puxStackBuffer = xRegTest4TaskStack,
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.xRegions = {
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{ 0, 0, 0 },
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{ 0, 0, 0 },
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{ 0, 0, 0 }
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}
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};
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TaskParameters_t xRegTestSecureTaskParameters =
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{
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.pvTaskCode = prvRegTest_Secure_Task,
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.pcName = "RegTestSecure",
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.usStackDepth = configMINIMAL_STACK_SIZE,
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.pvParameters = REG_TEST_SECURE_TASK_PARAMETER,
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.uxPriority = tskIDLE_PRIORITY | portPRIVILEGE_BIT,
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.puxStackBuffer = xRegTestSecureTaskStack,
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.xRegions = {
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{ 0, 0, 0 },
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{ 0, 0, 0 },
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{ 0, 0, 0 }
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}
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};
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TaskParameters_t xRegTestNonSecureCallbackTaskParameters =
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{
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.pvTaskCode = prvRegTest_NonSecureCallback_Task,
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.pcName = "RegTestNonSecureCallback",
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.usStackDepth = configMINIMAL_STACK_SIZE,
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.pvParameters = REG_TEST_NON_SECURE_CALLBACK_TASK_PARAMETER,
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.uxPriority = tskIDLE_PRIORITY | portPRIVILEGE_BIT,
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.puxStackBuffer = xRegTestNonSecureCallbackTaskStack,
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.xRegions = {
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{ 0, 0, 0 },
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{ 0, 0, 0 },
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{ 0, 0, 0 }
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}
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};
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TaskParameters_t xCheckTaskParameters =
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{
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.pvTaskCode = prvCheckTask,
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.pcName = "Check",
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.usStackDepth = configMINIMAL_STACK_SIZE,
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.pvParameters = NULL,
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.uxPriority = ( CHECK_TASK_PRIORITY | portPRIVILEGE_BIT ),
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.puxStackBuffer = xCheckTaskStack,
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.xRegions = {
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{ 0, 0, 0 },
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{ 0, 0, 0 },
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{ 0, 0, 0 }
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}
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};
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xTaskCreateRestricted( &( xRegTest1TaskParameters ), NULL );
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xTaskCreateRestricted( &( xRegTest2TaskParameters ), NULL );
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xTaskCreateRestricted( &( xRegTest3TaskParameters ), NULL );
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xTaskCreateRestricted( &( xRegTest4TaskParameters ), NULL );
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xTaskCreateRestricted( &( xRegTestSecureTaskParameters ), NULL );
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xTaskCreateRestricted( &( xRegTestNonSecureCallbackTaskParameters ), NULL );
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xTaskCreateRestricted( &( xCheckTaskParameters ), NULL );
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}
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/*-----------------------------------------------------------*/
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static void prvRegTest1_Task( void * pvParameters )
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{
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/* Although the reg tests are written in assembly, its entry
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* point is written in C for convenience of checking that the
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* task parameter is being passed in correctly. */
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if( pvParameters == REG_TEST_1_TASK_PARAMETER )
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{
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/* Start the part of the test that is written in assembler. */
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vRegTest1Asm_NonSecure();
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}
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/* The following line will only execute if the task parameter
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* is found to be incorrect. The check task will detect that
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* the reg test loop counter is not being incremented and flag
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* an error. */
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vTaskDelete( NULL );
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}
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/*-----------------------------------------------------------*/
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static void prvRegTest2_Task( void * pvParameters )
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{
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/* Although the reg tests are written in assembly, its entry
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* point is written in C for convenience of checking that the
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* task parameter is being passed in correctly. */
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if( pvParameters == REG_TEST_2_TASK_PARAMETER )
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{
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/* Start the part of the test that is written in assembler. */
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vRegTest2Asm_NonSecure();
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}
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/* The following line will only execute if the task parameter
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* is found to be incorrect. The check task will detect that
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* the reg test loop counter is not being incremented and flag
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* an error. */
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vTaskDelete( NULL );
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}
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/*-----------------------------------------------------------*/
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static void prvRegTest3_Task( void * pvParameters )
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{
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/* Although the reg tests are written in assembly, its entry
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* point is written in C for convenience of checking that the
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* task parameter is being passed in correctly. */
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if( pvParameters == REG_TEST_3_TASK_PARAMETER )
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{
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/* Start the part of the test that is written in assembler. */
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vRegTest3Asm_NonSecure();
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}
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/* The following line will only execute if the task parameter
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* is found to be incorrect. The check task will detect that
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* the reg test loop counter is not being incremented and flag
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* an error. */
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vTaskDelete( NULL );
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}
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/*-----------------------------------------------------------*/
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static void prvRegTest4_Task( void * pvParameters )
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{
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/* Although the reg tests are written in assembly, its entry
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* point is written in C for convenience of checking that the
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* task parameter is being passed in correctly. */
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if( pvParameters == REG_TEST_4_TASK_PARAMETER )
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{
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/* Start the part of the test that is written in assembler. */
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vRegTest4Asm_NonSecure();
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}
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/* The following line will only execute if the task parameter
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* is found to be incorrect. The check task will detect that
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* the reg test loop counter is not being incremented and flag
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* an error. */
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vTaskDelete( NULL );
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}
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/*-----------------------------------------------------------*/
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static void prvRegTest_Secure_Task( void * pvParameters )
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{
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/* This task is going to call secure side functions. */
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portALLOCATE_SECURE_CONTEXT( configMINIMAL_SECURE_STACK_SIZE );
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/* Although the reg tests are written in assembly, its entry
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* point is written in C for convenience of checking that the
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* task parameter is being passed in correctly. */
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if( pvParameters == REG_TEST_SECURE_TASK_PARAMETER )
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{
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for( ;; )
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{
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/* Call the secure side function. This function populates registers
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* with known values, then forces a context switch while on the
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* secure side and then verifies that the contents of the registers
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* are intact. This ensure that the context restoring mechanism
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* works properly when the interrupted task was in the middle of a
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* call to a secure side function. */
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vRegTestAsm_Secure();
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ulRegTestSecureLoopCounter += 1;
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}
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}
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/* The following line will only execute if the task parameter
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* is found to be incorrect. The check task will detect that
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* the reg test loop counter is not being incremented and flag
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* an error. */
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vTaskDelete( NULL );
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}
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/*-----------------------------------------------------------*/
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static void prvRegTest_NonSecureCallback_Task( void * pvParameters )
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{
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/* This task is going to call secure side functions. */
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portALLOCATE_SECURE_CONTEXT( configMINIMAL_SECURE_STACK_SIZE );
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/* Although the reg tests are written in assembly, its entry
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* point is written in C for convenience of checking that the
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* task parameter is being passed in correctly. */
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if( pvParameters == REG_TEST_NON_SECURE_CALLBACK_TASK_PARAMETER )
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{
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for( ;; )
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{
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/* Call the secure side function. This function calls the provided
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* non-secure callback which in-turn populates registers with
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* known values, then forces a context switch while on the
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* non-secure side and then verifies that the contents of the
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* registers are intact. This ensure that the context restoring
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* mechanism works properly when the interrupted task was in the
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* middle of a non-secure callback from the secure side. */
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vRegTest_NonSecureCallback( vRegTestAsm_NonSecureCallback );
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ulRegTestNonSecureCallbackLoopCounter += 1;
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}
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}
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/* The following line will only execute if the task parameter
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* is found to be incorrect. The check task will detect that
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* the reg test loop counter is not being incremented and flag
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* an error. */
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vTaskDelete( NULL );
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}
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/*-----------------------------------------------------------*/
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static void prvCheckTask( void * pvParameters )
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{
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TickType_t xDelayPeriod = NO_ERROR_CHECK_TASK_PERIOD;
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TickType_t xLastExecutionTime;
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unsigned long ulErrorFound = pdFALSE;
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static unsigned long ulLastRegTest1Value = 0, ulLastRegTest2Value = 0;
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static unsigned long ulLastRegTest3Value = 0, ulLastRegTest4Value = 0;
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static unsigned long ulLastRegTestSecureValue = 0, ulLastRegTestNonSecureCallbackValue = 0;
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/* Just to stop compiler warnings. */
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( void ) pvParameters;
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/* Initialize xLastExecutionTime so the first call to vTaskDelayUntil()
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* works correctly. */
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xLastExecutionTime = xTaskGetTickCount();
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/* Cycle for ever, delaying then checking all the other tasks are still
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* operating without error. The onboard LED is toggled on each iteration.
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* If an error is detected then the delay period is decreased from
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* mainNO_ERROR_CHECK_TASK_PERIOD to mainERROR_CHECK_TASK_PERIOD. This has
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* the effect of increasing the rate at which the onboard LED toggles, and
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* in so doing gives visual feedback of the system status. */
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for( ;; )
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{
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/* Delay until it is time to execute again. */
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vTaskDelayUntil( &xLastExecutionTime, xDelayPeriod );
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/* Check that the register test 1 task is still running. */
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if( ulLastRegTest1Value == ulRegTest1LoopCounter )
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{
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ulErrorFound |= 1UL << 0UL;
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}
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ulLastRegTest1Value = ulRegTest1LoopCounter;
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/* Check that the register test 2 task is still running. */
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if( ulLastRegTest2Value == ulRegTest2LoopCounter )
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{
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ulErrorFound |= 1UL << 1UL;
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}
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ulLastRegTest2Value = ulRegTest2LoopCounter;
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/* Check that the register test 3 task is still running. */
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if( ulLastRegTest3Value == ulRegTest3LoopCounter )
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{
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ulErrorFound |= 1UL << 2UL;
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}
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ulLastRegTest3Value = ulRegTest3LoopCounter;
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/* Check that the register test 4 task is still running. */
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if( ulLastRegTest4Value == ulRegTest4LoopCounter )
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{
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ulErrorFound |= 1UL << 3UL;
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}
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ulLastRegTest4Value = ulRegTest4LoopCounter;
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/* Check that the register test secure task is still running. */
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if( ulLastRegTestSecureValue == ulRegTestSecureLoopCounter )
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{
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ulErrorFound |= 1UL << 4UL;
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}
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ulLastRegTestSecureValue = ulRegTestSecureLoopCounter;
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/* Check that the register test non-secure callback task is
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* still running. */
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if( ulLastRegTestNonSecureCallbackValue == ulRegTestNonSecureCallbackLoopCounter )
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{
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ulErrorFound |= 1UL << 5UL;
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}
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ulLastRegTestNonSecureCallbackValue = ulRegTestNonSecureCallbackLoopCounter;
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if( ulErrorFound != pdFALSE )
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{
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/* Increment error detection count. */
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ulCheckTaskLoops++;
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}
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}
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}
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/*-----------------------------------------------------------*/
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@ -0,0 +1,35 @@
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/*
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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
|
||||
*
|
||||
*/
|
||||
|
||||
#ifndef REG_TESTS_H
|
||||
#define REG_TESTS_H
|
||||
|
||||
/**
|
||||
* @brief Creates all the tasks for reg tests.
|
||||
*/
|
||||
void vStartRegTests( void );
|
||||
|
||||
#endif /* REG_TESTS_H */
|
||||
Loading…
Reference in New Issue