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Add register tests to Nucleo-L152RE project (FreeRTOS#982)
* Add reg tests for CORTEX_MPU_M3_NUCLEO_L152RE Signed-off-by: Gaurav Aggarwal <[email protected]> Co-authored-by: kar-rahul-aws <[email protected]>
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‎FreeRTOS/Demo/CORTEX_MPU_M3_NUCLEO_L152RE_GCC/Config/FreeRTOSConfig.h‎

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/* Ensure that system calls can only be made from kernel code. */
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#define configENFORCE_SYSTEM_CALLS_FROM_KERNEL_ONLY 1
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/* Do not allow critical sections from unprivileged tasks. */
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#define configALLOW_UNPRIVILEGED_CRITICAL_SECTIONS 0
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#ifdef __cplusplus
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}
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#endif

‎FreeRTOS/Demo/CORTEX_MPU_M3_NUCLEO_L152RE_GCC/Demo/app_main.c‎

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/* Demo includes. */
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#include "mpu_demo.h"
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#include "reg_tests.h"
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void app_main( void )
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{
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/* Start the MPU demo. */
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vStartMPUDemo();
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/* Start register tests. */
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vStartRegTests();
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/* Start the scheduler. */
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vTaskStartScheduler();
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‎FreeRTOS/Demo/CORTEX_MPU_M3_NUCLEO_L152RE_GCC/Demo/reg_tests.c‎

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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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/* Hardware includes. */
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#include "main.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 prvRegTest1Task( void * pvParameters );
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static void prvRegTest2Task( void * pvParameters );
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static void prvRegTest3Task( void * pvParameters );
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static void prvRegTest4Task( 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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* Functions implemented in assembly.
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*/
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extern void vRegTest1Asm( void ) __attribute__( ( naked ) );
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extern void vRegTest2Asm( void ) __attribute__( ( naked ) );
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extern void vRegTest3Asm( void ) __attribute__( ( naked ) );
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extern void vRegTest4Asm( void ) __attribute__( ( naked ) );
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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_TASK_1_PARAMETER ( ( void * ) 0x12345678 )
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#define REG_TEST_TASK_2_PARAMETER ( ( void * ) 0x87654321 )
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#define REG_TEST_TASK_3_PARAMETER ( ( void * ) 0x12348765 )
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#define REG_TEST_TASK_4_PARAMETER ( ( void * ) 0x43215678 )
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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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/**
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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( configMINIMAL_STACK_SIZE * sizeof( StackType_t ) ) ) );
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static StackType_t xRegTest2TaskStack[ configMINIMAL_STACK_SIZE ] __attribute__( ( aligned( configMINIMAL_STACK_SIZE * sizeof( StackType_t ) ) ) );
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static StackType_t xRegTest3TaskStack[ configMINIMAL_STACK_SIZE ] __attribute__( ( aligned( configMINIMAL_STACK_SIZE * sizeof( StackType_t ) ) ) );
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static StackType_t xRegTest4TaskStack[ configMINIMAL_STACK_SIZE ] __attribute__( ( aligned( configMINIMAL_STACK_SIZE * sizeof( StackType_t ) ) ) );
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static StackType_t xCheckTaskStack[ configMINIMAL_STACK_SIZE ] __attribute__( ( aligned( configMINIMAL_STACK_SIZE * sizeof( StackType_t ) ) ) );
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TaskParameters_t xRegTest1TaskParameters =
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{
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.pvTaskCode = prvRegTest1Task,
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.pcName = "RegTest1",
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.usStackDepth = configMINIMAL_STACK_SIZE,
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.pvParameters = REG_TEST_TASK_1_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 = prvRegTest2Task,
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.pcName = "RegTest2",
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.usStackDepth = configMINIMAL_STACK_SIZE,
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.pvParameters = REG_TEST_TASK_2_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 = prvRegTest3Task,
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.pcName = "RegTest3",
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.usStackDepth = configMINIMAL_STACK_SIZE,
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.pvParameters = REG_TEST_TASK_3_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 = prvRegTest4Task,
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.pcName = "RegTest4",
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.usStackDepth = configMINIMAL_STACK_SIZE,
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.pvParameters = REG_TEST_TASK_4_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 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( &( xCheckTaskParameters ), NULL );
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}
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/*-----------------------------------------------------------*/
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static void prvRegTest1Task( 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_TASK_1_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();
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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 prvRegTest2Task( 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_TASK_2_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();
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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 prvRegTest3Task( 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_TASK_3_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();
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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 prvRegTest4Task( 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_TASK_4_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();
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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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/* 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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/* Toggle the Green LED to give an indication of the system status.
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* If the LED toggles every NO_ERROR_CHECK_TASK_PERIOD milliseconds
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* then everything is ok. A faster toggle indicates an error. */
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HAL_GPIO_TogglePin( LD2_GPIO_Port, LD2_Pin );
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if( ulErrorFound != pdFALSE )
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{
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/* An error has been detected in one of the tasks - flash the LED
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* at a higher frequency to give visible feedback that something has
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* gone wrong. */
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xDelayPeriod = ERROR_CHECK_TASK_PERIOD;
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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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/*-----------------------------------------------------------*/

‎FreeRTOS/Demo/CORTEX_MPU_M3_NUCLEO_L152RE_GCC/Demo/reg_tests.h‎

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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
7+
* 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,
10+
* 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
13+
* copies or substantial portions of the Software.
14+
*
15+
* 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
17+
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
18+
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
19+
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
20+
* 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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#ifndef REG_TESTS_H
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#define REG_TESTS_H
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/**
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* @brief Creates all the tasks for reg tests.
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*/
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void vStartRegTests( void );
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#endif /* REG_TESTS_H */

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