2 FreeRTOS V6.0.0 - Copyright (C) 2009 Real Time Engineers Ltd.
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4 This file is part of the FreeRTOS distribution.
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6 FreeRTOS is free software; you can redistribute it and/or modify it under
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7 the terms of the GNU General Public License (version 2) as published by the
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8 Free Software Foundation and modified by the FreeRTOS exception.
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9 **NOTE** The exception to the GPL is included to allow you to distribute a
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10 combined work that includes FreeRTOS without being obliged to provide the
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11 source code for proprietary components outside of the FreeRTOS kernel.
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12 Alternative commercial license and support terms are also available upon
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13 request. See the licensing section of http://www.FreeRTOS.org for full
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16 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT
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17 ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
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18 FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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21 You should have received a copy of the GNU General Public License along
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22 with FreeRTOS; if not, write to the Free Software Foundation, Inc., 59
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23 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
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26 ***************************************************************************
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28 * The FreeRTOS eBook and reference manual are available to purchase for a *
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29 * small fee. Help yourself get started quickly while also helping the *
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30 * FreeRTOS project! See http://www.FreeRTOS.org/Documentation for details *
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32 ***************************************************************************
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36 Please ensure to read the configuration and relevant port sections of the
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37 online documentation.
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39 http://www.FreeRTOS.org - Documentation, latest information, license and
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42 http://www.SafeRTOS.com - A version that is certified for use in safety
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45 http://www.OpenRTOS.com - Commercial support, development, porting,
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46 licensing and training services.
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49 /* Standard includes. */
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51 #include <__cross_studio_io.h>
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53 /* Scheduler includes. */
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54 #include "FreeRTOS.h"
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59 /* Hardware library includes. */
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60 #include "hw_types.h"
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61 #include "hw_sysctl.h"
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65 * This file demonstrates the use of MPU using just three tasks - two 'reg test'
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66 * tasks and one 'check' task. Read the comments above the
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67 * function prototypes for more information.
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70 /*-----------------------------------------------------------*/
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72 /* Misc constants. */
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73 #define mainDONT_BLOCK ( 0 )
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75 /* Definitions for the messages that can be sent to the check task. */
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76 #define mainREG_TEST_1_STILL_EXECUTING ( 0 )
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77 #define mainREG_TEST_2_STILL_EXECUTING ( 1 )
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78 #define mainPRINT_SYSTEM_STATUS ( 2 )
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80 /* GCC specifics. */
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81 #define mainALIGN_TO( x ) __attribute__((aligned(x)))
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84 /*-----------------------------------------------------------*/
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85 /* Prototypes for functions that implement tasks. -----------*/
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86 /*-----------------------------------------------------------*/
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89 * Prototype for the reg test tasks. Amongst other things, these fill the CPU
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90 * registers with known values before checking that the registers still contain
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91 * the expected values. Each of the two tasks use different values so an error
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92 * in the context switch mechanism can be caught. Both reg test tasks execute
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93 * at the idle priority so will get preempted regularly.
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95 static void prvRegTest1Task( void *pvParameters );
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96 static void prvRegTest2Task( void *pvParameters );
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99 * Prototype for the check task. The check task demonstrates various features
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100 * of the MPU before entering a loop where it waits for commands to arrive on a
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103 * The check task will periodically be commanded to print out a status message.
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104 * If both the reg tests tasks are executing as expected the check task will
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105 * print "PASS" to the debug port, otherwise it will print 'FAIL'. Debug port
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106 * messages can be viewed within the CrossWorks IDE.
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108 static void prvCheckTask( void *pvParameters );
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112 /*-----------------------------------------------------------*/
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113 /* Prototypes for other misc functions. --------------------*/
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114 /*-----------------------------------------------------------*/
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117 * Just configures any clocks and IO necessary.
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119 static void prvSetupHardware( void );
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122 * Simply deletes the calling task. The function is provided only because it
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123 * is simpler to call from asm code than the normal vTaskDelete() API function.
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124 * It has the noinline attribute because it is called from asm code.
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126 static void prvDeleteMe( void ) __attribute__((noinline));
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129 * Used by both reg test tasks to send messages to the check task. The message
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130 * just lets the check task know that the sending is still functioning correctly.
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131 * If a reg test task detects an error it will delete itself, and in so doing
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132 * prevent itself from sending any more 'I'm Alive' messages to the check task.
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134 static void prvSendImAlive( xQueueHandle xHandle, unsigned long ulTaskNumber );
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137 * The check task is created with access to three memory regions (plus its
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138 * stack). Each memory region is configured with different parameters and
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139 * prvTestMemoryRegions() demonstrates what can and cannot be accessed for each
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140 * region. prvTestMemoryRegions() also demonstrates a task that was created
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141 * as a privileged task settings its own privilege level down to that of a user
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144 static void prvTestMemoryRegions( void );
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146 /*-----------------------------------------------------------*/
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148 /* The handle of the queue used to communicate between tasks and between tasks
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149 and interrupts. Note that this is a file scope variable that falls outside of
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150 any MPU region. As such other techniques have to be used to allow the tasks
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151 to gain access to the queue. See the comments in the tasks themselves for
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152 further information. */
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153 static xQueueHandle xFileScopeCheckQueue = NULL;
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157 /*-----------------------------------------------------------*/
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158 /* Data used by the 'check' task. ---------------------------*/
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159 /*-----------------------------------------------------------*/
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161 /* Define the constants used to allocate the check task stack. Note that the
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162 stack size is defined in words, not bytes. */
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163 #define mainCHECK_TASK_STACK_SIZE_WORDS 128
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164 #define mainCHECK_TASK_STACK_ALIGNMENT ( mainCHECK_TASK_STACK_SIZE_WORDS * sizeof( portSTACK_TYPE ) )
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166 /* Declare the stack that will be used by the check task. The kernel will
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167 automatically create an MPU region for the stack. The stack alignment must
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168 match its size, so if 128 words are reserved for the stack then it must be
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169 aligned to ( 128 * 4 ) bytes. */
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170 static portSTACK_TYPE xCheckTaskStack[ mainCHECK_TASK_STACK_SIZE_WORDS ] mainALIGN_TO( mainCHECK_TASK_STACK_ALIGNMENT );
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172 /* Declare three arrays - an MPU region will be created for each array
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173 using the xTaskParameters structure below. Note that the arrays allocate
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174 slightly more RAM than is actually assigned to the MPU region. This is to
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175 permit writes off the end of the array to be detected even when the arrays are
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176 placed in adjacent memory locations (with no gaps between them). The align
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177 size must be a power of two. */
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178 #define mainREAD_WRITE_ARRAY_SIZE 130
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179 #define mainREAD_WRITE_ALIGN_SIZE 128
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180 char cReadWriteArray[ mainREAD_WRITE_ARRAY_SIZE ] mainALIGN_TO( mainREAD_WRITE_ALIGN_SIZE );
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182 #define mainREAD_ONLY_ARRAY_SIZE 260
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183 #define mainREAD_ONLY_ALIGN_SIZE 256
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184 char cReadOnlyArray[ mainREAD_ONLY_ARRAY_SIZE ] mainALIGN_TO( mainREAD_ONLY_ALIGN_SIZE );
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186 #define mainPRIVILEGED_ONLY_ACCESS_ARRAY_SIZE 130
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187 #define mainPRIVILEGED_ONLY_ACCESS_ALIGN_SIZE 128
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188 char cPrivilegedOnlyAccessArray[ mainPRIVILEGED_ONLY_ACCESS_ALIGN_SIZE ] mainALIGN_TO( mainPRIVILEGED_ONLY_ACCESS_ALIGN_SIZE );
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190 /* Fill in a xTaskParameters structure to define the check task. */
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191 static const xTaskParameters xCheckTaskParameters =
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193 prvCheckTask, /* pvTaskCode - the function that implements the task. */
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194 ( signed char * ) "Check", /* pcName */
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195 mainCHECK_TASK_STACK_SIZE_WORDS, /* usStackDepth - defined in words, not bytes. */
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196 ( void * ) 0x12121212, /* pvParameters - this value is just to test that the parameter is being passed into the task correctly. */
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197 ( tskIDLE_PRIORITY + 1 ) | portPRIVILEGE_BIT,/* uxPriority - this is the highest priority task in the system. The task is created in privileged mode to demonstrate accessing the privileged only data. */
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198 xCheckTaskStack, /* puxStackBuffer - the array to use as the task stack, as declared above. */
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200 /* xRegions - In this case the xRegions array is used to create MPU regions
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201 for all three of the arrays declared directly above. Each MPU region is
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202 created with different parameters. */
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204 /* Base address Length Parameters */
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205 { cReadWriteArray, mainREAD_WRITE_ALIGN_SIZE, portMPU_REGION_READ_WRITE },
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206 { cReadOnlyArray, mainREAD_ONLY_ALIGN_SIZE, portMPU_REGION_READ_ONLY },
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207 { cPrivilegedOnlyAccessArray, mainPRIVILEGED_ONLY_ACCESS_ALIGN_SIZE, portMPU_REGION_PRIVILEGED_READ_WRITE }
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211 /* Three MPU regions are defined for use by the 'check' task when the task is
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212 created. These are only used to demonstrate the MPU features and are not
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213 actually necessary for the check task to fulfill its primary purpose. Instead
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214 the MPU regions are replaced with those defined by xAltRegions prior to the
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215 check task receiving any data on the queue or printing any messages to the
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216 debug console. The region configured by xAltRegions just gives the check task
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217 access to the debug variables that form part of the Rowley library, and are
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218 accessed within the debug_printf() function. */
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219 extern unsigned long dbgCntrlWord_mempoll;
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220 static const xMemoryRegion xAltRegions[ portNUM_CONFIGURABLE_REGIONS ] =
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222 /* Base address Length Parameters */
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223 { ( void * ) &dbgCntrlWord_mempoll, 32, portMPU_REGION_READ_WRITE },
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230 /*-----------------------------------------------------------*/
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231 /* Data used by the 'reg test' tasks. -----------------------*/
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232 /*-----------------------------------------------------------*/
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234 /* Define the constants used to allocate the reg test task stacks. Note that
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235 that stack size is defined in words, not bytes. */
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236 #define mainREG_TEST_STACK_SIZE_WORDS 128
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237 #define mainREG_TEST_STACK_ALIGNMENT ( mainREG_TEST_STACK_SIZE_WORDS * sizeof( portSTACK_TYPE ) )
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239 /* Declare the stacks that will be used by the reg test tasks. The kernel will
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240 automatically create an MPU region for the stack. The stack alignment must
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241 match its size, so if 128 words are reserved for the stack then it must be
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242 aligned to ( 128 * 4 ) bytes. */
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243 static portSTACK_TYPE xRegTest1Stack[ mainREG_TEST_STACK_SIZE_WORDS ] mainALIGN_TO( mainREG_TEST_STACK_ALIGNMENT );
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244 static portSTACK_TYPE xRegTest2Stack[ mainREG_TEST_STACK_SIZE_WORDS ] mainALIGN_TO( mainREG_TEST_STACK_ALIGNMENT );
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246 /* Fill in a xTaskParameters structure per reg test task to define the tasks. */
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247 static const xTaskParameters xRegTest1Parameters =
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249 prvRegTest1Task, /* pvTaskCode - the function that implements the task. */
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250 ( signed char * ) "RegTest1", /* pcName */
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251 mainREG_TEST_STACK_SIZE_WORDS, /* usStackDepth */
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252 ( void * ) 0x12345678, /* pvParameters - this value is just to test that the parameter is being passed into the task correctly. */
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253 tskIDLE_PRIORITY | portPRIVILEGE_BIT, /* uxPriority - note that this task is created with privileges to demonstrate one method of passing a queue handle into the task. */
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254 xRegTest1Stack, /* puxStackBuffer - the array to use as the task stack, as declared above. */
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255 { /* xRegions - this task does not use any non-stack data. */
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256 /* Base address Length Parameters */
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257 { 0x00, 0x00, 0x00 },
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258 { 0x00, 0x00, 0x00 },
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259 { 0x00, 0x00, 0x00 }
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262 /*-----------------------------------------------------------*/
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264 static xTaskParameters xRegTest2Parameters =
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266 prvRegTest2Task, /* pvTaskCode - the function that implements the task. */
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267 ( signed char * ) "RegTest2", /* pcName */
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268 mainREG_TEST_STACK_SIZE_WORDS, /* usStackDepth */
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269 ( void * ) NULL, /* pvParameters - this task uses the parameter to pass in a queue handle, but the queue is not created yet. */
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270 tskIDLE_PRIORITY, /* uxPriority */
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271 xRegTest2Stack, /* puxStackBuffer - the array to use as the task stack, as declared above. */
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272 { /* xRegions - this task does not use any non-stack data. */
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273 /* Base address Length Parameters */
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274 { 0x00, 0x00, 0x00 },
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275 { 0x00, 0x00, 0x00 },
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276 { 0x00, 0x00, 0x00 }
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280 /*-----------------------------------------------------------*/
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284 prvSetupHardware();
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286 /* Create the queue used to pass "I'm alive" messages to the check task. */
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287 xFileScopeCheckQueue = xQueueCreate( 1, sizeof( unsigned long ) );
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289 /* One check task uses the task parameter to receive the queue handle.
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290 This allows the file scope variable to be accessed from within the task.
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291 The pvParameters member of xRegTest2Parameters can only be set after the
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292 queue has been created. */
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293 xRegTest2Parameters.pvParameters = xFileScopeCheckQueue;
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295 /* Create the three test tasks. Handles to the created tasks are not
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296 required, hence the second parameter is NULL. */
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297 xTaskCreateRestricted( &xRegTest1Parameters, NULL );
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298 xTaskCreateRestricted( &xRegTest2Parameters, NULL );
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299 xTaskCreateRestricted( &xCheckTaskParameters, NULL );
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301 /* Start the scheduler. */
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302 vTaskStartScheduler();
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304 /* Will only get here if there was insufficient memory to create the idle
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309 /*-----------------------------------------------------------*/
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311 static void prvCheckTask( void *pvParameters )
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313 /* This task is created in privileged mode so can access the file scope
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314 queue variable. Take a stack copy of this before the task is set into user
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315 mode. Once that task is in user mode the file scope queue variable will no
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316 longer be accessible but the stack copy will. */
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317 xQueueHandle xQueue = xFileScopeCheckQueue;
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319 unsigned long ulStillAliveCounts[ 2 ] = { 0 };
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320 const char *pcStatusMessage = "PASS\r\n";
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322 /* Just to remove compiler warning. */
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323 ( void ) pvParameters;
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325 /* Demonstrate how the various memory regions can and can't be accessed.
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326 The task privilege is set down to user mode within this function. */
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327 prvTestMemoryRegions();
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329 /* Change the memory regions allocated to this task to those initially
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330 set up for demonstration purposes to those actually required by the task. */
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331 vTaskAllocateMPURegions( NULL, xAltRegions );
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333 /* This loop performs the main function of the task, which is blocking
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334 on a message queue then processing each message as it arrives. */
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337 /* Wait for the next message to arrive. */
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338 xQueueReceive( xQueue, &lMessage, portMAX_DELAY );
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342 case mainREG_TEST_1_STILL_EXECUTING :
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343 /* Message from task 1, so task 1 must still be executing. */
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344 ( ulStillAliveCounts[ 0 ] )++;
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347 case mainREG_TEST_2_STILL_EXECUTING :
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348 /* Message from task 2, so task 2 must still be executing. */
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349 ( ulStillAliveCounts[ 1 ] )++;
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352 case mainPRINT_SYSTEM_STATUS :
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353 /* Message from tick hook, time to print out the system
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354 status. If messages has stopped arriving from either reg
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355 test task then the status must be set to fail. */
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356 if( ( ulStillAliveCounts[ 0 ] == 0 ) || ( ulStillAliveCounts[ 1 ] == 0 ) )
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358 /* One or both of the test tasks are no longer sending
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359 'still alive' messages. */
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360 pcStatusMessage = "FAIL\r\n";
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363 /* Print a pass/fail message to the terminal. This will be
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364 visible in the CrossWorks IDE. */
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365 debug_printf( pcStatusMessage );
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367 /* Reset the count of 'still alive' messages. */
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368 memset( ulStillAliveCounts, 0x00, sizeof( ulStillAliveCounts ) );
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372 /* Something unexpected happened. Delete this task so the
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373 error is apparent (no output will be displayed). */
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379 /*-----------------------------------------------------------*/
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381 static void prvTestMemoryRegions( void )
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386 /* The check task is created in the privileged mode. The privileged array
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387 can be both read from and written to while this task is privileged. */
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388 cPrivilegedOnlyAccessArray[ 0 ] = 'a';
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389 if( cPrivilegedOnlyAccessArray[ 0 ] != 'a' )
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391 /* Something unexpected happened. Delete this task so the error is
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392 apparent (no output will be displayed). */
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396 /* Writing off the end of the RAM allocated to this task will *NOT* cause a
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397 protection fault because the task is still executing in a privileged mode.
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398 Uncomment the following to test. */
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399 /*cPrivilegedOnlyAccessArray[ mainPRIVILEGED_ONLY_ACCESS_ALIGN_SIZE ] = 'a';*/
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401 /* Now set the task into user mode. */
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402 portSWITCH_TO_USER_MODE();
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404 /* Accessing the privileged only array will now cause a fault. Uncomment
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405 the following line to test. */
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406 /*cPrivilegedOnlyAccessArray[ 0 ] = 'a';*/
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408 /* The read/write array can still be successfully read and written. */
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409 for( l = 0; l < mainREAD_WRITE_ALIGN_SIZE; l++ )
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411 cReadWriteArray[ l ] = 'a';
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412 if( cReadWriteArray[ l ] != 'a' )
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414 /* Something unexpected happened. Delete this task so the error is
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415 apparent (no output will be displayed). */
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420 /* But attempting to read or write off the end of the RAM allocated to this
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421 task will cause a fault. Uncomment either of the following two lines to
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423 /* cReadWriteArray[ 0 ] = cReadWriteArray[ -1 ]; */
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424 /* cReadWriteArray[ mainREAD_WRITE_ALIGN_SIZE ] = 0x00; */
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426 /* The read only array can be successfully read... */
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427 for( l = 0; l < mainREAD_ONLY_ALIGN_SIZE; l++ )
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429 cTemp = cReadOnlyArray[ l ];
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432 /* ...but cannot be written. Uncomment the following line to test. */
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433 /* cReadOnlyArray[ 0 ] = 'a'; */
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435 /* Writing to the first and last locations in the stack array should not
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436 cause a protection fault. Note that doing this will cause the kernel to
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437 detect a stack overflow if configCHECK_FOR_STACK_OVERFLOW is greater than
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439 xCheckTaskStack[ 0 ] = 0;
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440 xCheckTaskStack[ mainCHECK_TASK_STACK_SIZE_WORDS - 1 ] = 0;
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442 /* Writing off either end of the stack array should cause a protection
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443 fault, uncomment either of the following two lines to test. */
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444 /* xCheckTaskStack[ -1 ] = 0; */
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445 /* xCheckTaskStack[ mainCHECK_TASK_STACK_SIZE_WORDS ] = 0; */
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447 /*-----------------------------------------------------------*/
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449 static void prvRegTest1Task( void *pvParameters )
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451 /* This task is created in privileged mode so can access the file scope
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452 queue variable. Take a stack copy of this before the task is set into user
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453 mode. Once that task is in user mode the file scope queue variable will no
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454 longer be accessible but the stack copy will. */
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455 xQueueHandle xQueue = xFileScopeCheckQueue;
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457 /* Now the queue handle has been obtained the task can switch to user
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458 mode. This is just one method of passing a handle into a protected
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459 task, the other reg test task uses the task parameter instead. */
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460 portSWITCH_TO_USER_MODE();
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462 /* First check that the parameter value is as expected. */
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463 if( pvParameters != ( void * ) 0x12345678 )
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465 /* Error detected. Delete the task so it stops communicating with
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473 /* This task tests the kernel context switch mechanism by reading and
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474 writing directly to registers - which requires the test to be written
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475 in assembly code. */
\r
478 " MOV R4, #104 \n" /* Set registers to a known value. R0 to R1 are done in the loop below. */
\r
483 " MOV R10, #110 \n"
\r
484 " MOV R11, #111 \n"
\r
486 " MOV R0, #100 \n" /* Set the scratch registers to known values - done inside the loop as they get clobbered. */
\r
490 " MOV R12, #112 \n"
\r
491 " SVC #1 \n" /* Yield just to increase test coverage. */
\r
492 " CMP R0, #100 \n" /* Check all the registers still contain their expected values. */
\r
493 " BNE prvDeleteMe \n" /* Value was not as expected, delete the task so it stops communicating with the check task. */
\r
495 " BNE prvDeleteMe \n"
\r
497 " BNE prvDeleteMe \n"
\r
499 " BNE prvDeleteMe \n"
\r
500 " CMP R4, #104 \n"
\r
501 " BNE prvDeleteMe \n"
\r
503 " BNE prvDeleteMe \n"
\r
505 " BNE prvDeleteMe \n"
\r
507 " BNE prvDeleteMe \n"
\r
509 " BNE prvDeleteMe \n"
\r
510 " CMP R10, #110 \n"
\r
511 " BNE prvDeleteMe \n"
\r
512 " CMP R11, #111 \n"
\r
513 " BNE prvDeleteMe \n"
\r
514 " CMP R12, #112 \n"
\r
515 " BNE prvDeleteMe \n"
\r
518 /* Send mainREG_TEST_1_STILL_EXECUTING to the check task to indicate that this
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519 task is still functioning. */
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520 prvSendImAlive( xQueue, mainREG_TEST_1_STILL_EXECUTING );
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522 /* Go back to check all the register values again. */
\r
523 __asm volatile( " B reg1loop " );
\r
526 /*-----------------------------------------------------------*/
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528 static void prvRegTest2Task( void *pvParameters )
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530 /* The queue handle is passed in as the task parameter. This is one method of
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531 passing data into a protected task, the other check task uses a different
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533 xQueueHandle xQueue = ( xQueueHandle ) pvParameters;
\r
537 /* This task tests the kernel context switch mechanism by reading and
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538 writing directly to registers - which requires the test to be written
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539 in assembly code. */
\r
542 " MOV R4, #4 \n" /* Set registers to a known value. R0 to R1 are done in the loop below. */
\r
545 " MOV R8, #8 \n" /* Frame pointer is omitted as it must not be changed. */
\r
548 " MOV R11, #11 \n"
\r
550 " MOV R0, #13 \n" /* Set the scratch registers to known values - done inside the loop as they get clobbered. */
\r
555 " CMP R0, #13 \n" /* Check all the registers still contain their expected values. */
\r
556 " BNE prvDeleteMe \n" /* Value was not as expected, delete the task so it stops communicating with the check task */
\r
558 " BNE prvDeleteMe \n"
\r
560 " BNE prvDeleteMe \n"
\r
562 " BNE prvDeleteMe \n"
\r
564 " BNE prvDeleteMe \n"
\r
566 " BNE prvDeleteMe \n"
\r
568 " BNE prvDeleteMe \n"
\r
570 " BNE prvDeleteMe \n"
\r
572 " BNE prvDeleteMe \n"
\r
574 " BNE prvDeleteMe \n"
\r
576 " BNE prvDeleteMe \n"
\r
578 " BNE prvDeleteMe \n"
\r
581 /* Send mainREG_TEST_2_STILL_EXECUTING to the check task to indicate that this
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582 task is still functioning. */
\r
583 prvSendImAlive( xQueue, mainREG_TEST_2_STILL_EXECUTING );
\r
585 /* Go back to check all the register values again. */
\r
586 __asm volatile( " B reg2loop " );
\r
589 /*-----------------------------------------------------------*/
\r
591 static void prvDeleteMe( void )
\r
593 vTaskDelete( NULL );
\r
595 /*-----------------------------------------------------------*/
\r
597 static void prvSendImAlive( xQueueHandle xHandle, unsigned long ulTaskNumber )
\r
599 if( xHandle != NULL )
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601 xQueueSend( xHandle, &ulTaskNumber, mainDONT_BLOCK );
\r
604 /*-----------------------------------------------------------*/
\r
606 static void prvSetupHardware( void )
\r
608 /* If running on Rev A2 silicon, turn the LDO voltage up to 2.75V. This is
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609 a workaround to allow the PLL to operate reliably. */
\r
610 if( DEVICE_IS_REVA2 )
\r
612 SysCtlLDOSet( SYSCTL_LDO_2_75V );
\r
615 /* Set the clocking to run from the PLL at 50 MHz */
\r
616 SysCtlClockSet( SYSCTL_SYSDIV_4 | SYSCTL_USE_PLL | SYSCTL_OSC_MAIN | SYSCTL_XTAL_8MHZ );
\r
618 /*-----------------------------------------------------------*/
\r
620 void vApplicationTickHook( void )
\r
622 static unsigned long ulCallCount;
\r
623 const unsigned long ulCallsBetweenSends = 5000 / portTICK_RATE_MS;
\r
624 const unsigned long ulMessage = mainPRINT_SYSTEM_STATUS;
\r
625 portBASE_TYPE xDummy;
\r
627 /* If configUSE_TICK_HOOK is set to 1 then this function will get called
\r
628 from each RTOS tick. It is called from the tick interrupt and therefore
\r
629 will be executing in the privileged state. */
\r
633 /* Is it time to print out the pass/fail message again? */
\r
634 if( ulCallCount >= ulCallsBetweenSends )
\r
638 /* Send a message to the check task to command it to check that all
\r
639 the tasks are still running then print out the status.
\r
641 This is running in an ISR so has to use the "FromISR" version of
\r
642 xQueueSend(). Because it is in an ISR it is running with privileges
\r
643 so can access xFileScopeCheckQueue directly. */
\r
644 xQueueSendFromISR( xFileScopeCheckQueue, &ulMessage, &xDummy );
\r
647 /*-----------------------------------------------------------*/
\r
649 void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed char *pcTaskName )
\r
651 /* If configCHECK_FOR_STACK_OVERFLOW is set to either 1 or 2 then this
\r
652 function will automatically get called if a task overflows its stack. */
\r
654 ( void ) pcTaskName;
\r
657 /*-----------------------------------------------------------*/
\r
659 void vApplicationMallocFailedHook( void )
\r
661 /* If configUSE_MALLOC_FAILED_HOOK is set to 1 then this function will
\r
662 be called automatically if a call to pvPortMalloc() fails. pvPortMalloc()
\r
663 is called automatically when a task, queue or semaphore is created. */
\r
666 /*-----------------------------------------------------------*/
\r
668 /* Just to keep the linker happy. */
\r
669 void __error__( char *pcFilename, unsigned long ulLine )
\r
671 ( void ) pcFilename;
\r
675 /*-----------------------------------------------------------*/
\r
677 /* Just to keep the linker happy. */
\r
678 int uipprintf( const char *fmt, ... )
\r
683 /*-----------------------------------------------------------*/
\r
685 void hard_fault_handler(unsigned int * hardfault_args)
\r
687 unsigned int stacked_r0;
\r
688 unsigned int stacked_r1;
\r
689 unsigned int stacked_r2;
\r
690 unsigned int stacked_r3;
\r
691 unsigned int stacked_r12;
\r
692 unsigned int stacked_lr;
\r
693 unsigned int stacked_pc;
\r
694 unsigned int stacked_psr;
\r
696 stacked_r0 = ((unsigned long) hardfault_args[0]);
\r
697 stacked_r1 = ((unsigned long) hardfault_args[1]);
\r
698 stacked_r2 = ((unsigned long) hardfault_args[2]);
\r
699 stacked_r3 = ((unsigned long) hardfault_args[3]);
\r
701 stacked_r12 = ((unsigned long) hardfault_args[4]);
\r
702 stacked_lr = ((unsigned long) hardfault_args[5]);
\r
703 stacked_pc = ((unsigned long) hardfault_args[6]);
\r
704 stacked_psr = ((unsigned long) hardfault_args[7]);
\r
706 /* Inspect stacked_pc to locate the offending instruction. */
\r
709 /*-----------------------------------------------------------*/
\r
711 void Fault_ISR( void ) __attribute__((naked));
\r
712 void Fault_ISR( void )
\r
718 " mrseq r0, msp \n"
\r
719 " mrsne r0, psp \n"
\r
720 " ldr r1, [r0, #24] \n"
\r
721 " ldr r2, handler_address_const \n"
\r
723 " handler_address_const: .word hard_fault_handler \n"
\r
726 /*-----------------------------------------------------------*/
\r
728 void MPU_Fault_ISR( void ) __attribute__((naked));
\r
729 void MPU_Fault_ISR( void )
\r
735 " mrseq r0, msp \n"
\r
736 " mrsne r0, psp \n"
\r
737 " ldr r1, [r0, #24] \n"
\r
738 " ldr r2, handler_address_const \n"
\r
740 " handler2_address_const: .word hard_fault_handler \n"
\r
743 /*-----------------------------------------------------------*/