2 FreeRTOS V8.2.0rc1 - Copyright (C) 2014 Real Time Engineers Ltd.
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5 VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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7 This file is part of the FreeRTOS distribution.
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9 FreeRTOS is free software; you can redistribute it and/or modify it under
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10 the terms of the GNU General Public License (version 2) as published by the
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11 Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
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13 >>! NOTE: The modification to the GPL is included to allow you to !<<
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14 >>! distribute a combined work that includes FreeRTOS without being !<<
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15 >>! obliged to provide the source code for proprietary components !<<
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16 >>! outside of the FreeRTOS kernel. !<<
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18 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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19 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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20 FOR A PARTICULAR PURPOSE. Full license text is available on the following
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21 link: http://www.freertos.org/a00114.html
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25 ***************************************************************************
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27 * Having a problem? Start by reading the FAQ "My application does *
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28 * not run, what could be wrong?". Have you defined configASSERT()? *
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30 * http://www.FreeRTOS.org/FAQHelp.html *
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32 ***************************************************************************
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34 ***************************************************************************
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36 * FreeRTOS provides completely free yet professionally developed, *
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37 * robust, strictly quality controlled, supported, and cross *
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38 * platform software that is more than just the market leader, it *
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39 * is the industry's de facto standard. *
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41 * Help yourself get started quickly while simultaneously helping *
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42 * to support the FreeRTOS project by purchasing a FreeRTOS *
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43 * tutorial book, reference manual, or both: *
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44 * http://www.FreeRTOS.org/Documentation *
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46 ***************************************************************************
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48 ***************************************************************************
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50 * Investing in training allows your team to be as productive as *
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51 * possible as early as possible, lowering your overall development *
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52 * cost, and enabling you to bring a more robust product to market *
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53 * earlier than would otherwise be possible. Richard Barry is both *
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54 * the architect and key author of FreeRTOS, and so also the world's *
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55 * leading authority on what is the world's most popular real time *
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56 * kernel for deeply embedded MCU designs. Obtaining your training *
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57 * from Richard ensures your team will gain directly from his in-depth *
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58 * product knowledge and years of usage experience. Contact Real Time *
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59 * Engineers Ltd to enquire about the FreeRTOS Masterclass, presented *
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60 * by Richard Barry: http://www.FreeRTOS.org/contact
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62 ***************************************************************************
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64 ***************************************************************************
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66 * You are receiving this top quality software for free. Please play *
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67 * fair and reciprocate by reporting any suspected issues and *
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68 * participating in the community forum: *
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69 * http://www.FreeRTOS.org/support *
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73 ***************************************************************************
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75 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
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76 license and Real Time Engineers Ltd. contact details.
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78 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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79 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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80 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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82 http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
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83 Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
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85 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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86 Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
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87 licenses offer ticketed support, indemnification and commercial middleware.
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89 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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90 engineered and independently SIL3 certified version for use in safety and
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91 mission critical applications that require provable dependability.
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98 * This file demonstrates the use of FreeRTOS-MPU. It creates tasks in both
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99 * User mode and Privileged mode, and using both the original xTaskCreate() and
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100 * the new xTaskCreateRestricted() API functions. The purpose of each created
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101 * task is documented in the comments above the task function prototype (in
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102 * this file), with the task behaviour demonstrated and documented within the
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103 * task function itself. In addition a queue is used to demonstrate passing
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104 * data between protected/restricted tasks as well as passing data between an
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105 * interrupt and a protected/restricted task.
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110 /* Standard includes. */
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111 #include <string.h>
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112 #include <__cross_studio_io.h>
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114 /* Scheduler includes. */
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115 #include "FreeRTOS.h"
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118 #include "semphr.h"
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120 /* Hardware library includes. */
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121 #include "hw_types.h"
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122 #include "hw_sysctl.h"
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123 #include "sysctl.h"
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125 /*-----------------------------------------------------------*/
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127 /* Misc constants. */
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128 #define mainDONT_BLOCK ( 0 )
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130 /* Definitions for the messages that can be sent to the check task. */
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131 #define mainREG_TEST_1_STILL_EXECUTING ( 0 )
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132 #define mainREG_TEST_2_STILL_EXECUTING ( 1 )
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133 #define mainPRINT_SYSTEM_STATUS ( 2 )
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135 /* GCC specifics. */
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136 #define mainALIGN_TO( x ) __attribute__((aligned(x)))
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139 /*-----------------------------------------------------------*/
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140 /* Prototypes for functions that implement tasks. -----------*/
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141 /*-----------------------------------------------------------*/
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144 * Prototype for the reg test tasks. Amongst other things, these fill the CPU
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145 * registers with known values before checking that the registers still contain
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146 * the expected values. Each of the two tasks use different values so an error
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147 * in the context switch mechanism can be caught. Both reg test tasks execute
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148 * at the idle priority so will get preempted regularly. Each task repeatedly
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149 * sends a message on a queue so long as it remains functioning correctly. If
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150 * an error is detected within the task the task is simply deleted.
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152 static void prvRegTest1Task( void *pvParameters );
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153 static void prvRegTest2Task( void *pvParameters );
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156 * Prototype for the check task. The check task demonstrates various features
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157 * of the MPU before entering a loop where it waits for messages to arrive on a
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160 * Two types of messages can be processes:
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162 * 1) "I'm Alive" messages sent from the reg test tasks, indicating that the
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163 * task is still operational.
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165 * 2) "Print Status commands" sent periodically by the tick hook function (and
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166 * therefore from within an interrupt) which command the check task to write
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167 * either pass or fail to the terminal, depending on the status of the reg
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170 static void prvCheckTask( void *pvParameters );
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173 * Prototype for a task created in User mode using the original vTaskCreate()
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174 * API function. The task demonstrates the characteristics of such a task,
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175 * before simply deleting itself.
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177 static void prvOldStyleUserModeTask( void *pvParameters );
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180 * Prototype for a task created in Privileged mode using the original
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181 * vTaskCreate() API function. The task demonstrates the characteristics of
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182 * such a task, before simply deleting itself.
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184 static void prvOldStylePrivilegedModeTask( void *pvParameters );
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187 /*-----------------------------------------------------------*/
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188 /* Prototypes for other misc functions. --------------------*/
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189 /*-----------------------------------------------------------*/
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192 * Just configures any clocks and IO necessary.
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194 static void prvSetupHardware( void );
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197 * Simply deletes the calling task. The function is provided only because it
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198 * is simpler to call from asm code than the normal vTaskDelete() API function.
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199 * It has the noinline attribute because it is called from asm code.
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201 static void prvDeleteMe( void ) __attribute__((noinline));
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204 * Used by both reg test tasks to send messages to the check task. The message
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205 * just lets the check task know that the task is still functioning correctly.
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206 * If a reg test task detects an error it will delete itself, and in so doing
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207 * prevent itself from sending any more 'I'm Alive' messages to the check task.
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209 static void prvSendImAlive( QueueHandle_t xHandle, unsigned long ulTaskNumber );
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212 * The check task is created with access to three memory regions (plus its
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213 * stack). Each memory region is configured with different parameters and
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214 * prvTestMemoryRegions() demonstrates what can and cannot be accessed for each
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215 * region. prvTestMemoryRegions() also demonstrates a task that was created
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216 * as a privileged task settings its own privilege level down to that of a user
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219 static void prvTestMemoryRegions( void );
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221 /*-----------------------------------------------------------*/
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223 /* The handle of the queue used to communicate between tasks and between tasks
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224 and interrupts. Note that this is a file scope variable that falls outside of
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225 any MPU region. As such other techniques have to be used to allow the tasks
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226 to gain access to the queue. See the comments in the tasks themselves for
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227 further information. */
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228 static QueueHandle_t xFileScopeCheckQueue = NULL;
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231 /*-----------------------------------------------------------*/
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232 /* Data used by the 'check' task. ---------------------------*/
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233 /*-----------------------------------------------------------*/
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235 /* Define the constants used to allocate the check task stack. Note that the
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236 stack size is defined in words, not bytes. */
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237 #define mainCHECK_TASK_STACK_SIZE_WORDS 128
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238 #define mainCHECK_TASK_STACK_ALIGNMENT ( mainCHECK_TASK_STACK_SIZE_WORDS * sizeof( portSTACK_TYPE ) )
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240 /* Declare the stack that will be used by the check task. The kernel will
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241 automatically create an MPU region for the stack. The stack alignment must
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242 match its size, so if 128 words are reserved for the stack then it must be
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243 aligned to ( 128 * 4 ) bytes. */
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244 static portSTACK_TYPE xCheckTaskStack[ mainCHECK_TASK_STACK_SIZE_WORDS ] mainALIGN_TO( mainCHECK_TASK_STACK_ALIGNMENT );
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246 /* Declare three arrays - an MPU region will be created for each array
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247 using the TaskParameters_t structure below. THIS IS JUST TO DEMONSTRATE THE
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248 MPU FUNCTIONALITY, the data is not used by the check tasks primary function
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249 of monitoring the reg test tasks and printing out status information.
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251 Note that the arrays allocate slightly more RAM than is actually assigned to
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252 the MPU region. This is to permit writes off the end of the array to be
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253 detected even when the arrays are placed in adjacent memory locations (with no
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254 gaps between them). The align size must be a power of two. */
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255 #define mainREAD_WRITE_ARRAY_SIZE 130
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256 #define mainREAD_WRITE_ALIGN_SIZE 128
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257 char cReadWriteArray[ mainREAD_WRITE_ARRAY_SIZE ] mainALIGN_TO( mainREAD_WRITE_ALIGN_SIZE );
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259 #define mainREAD_ONLY_ARRAY_SIZE 260
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260 #define mainREAD_ONLY_ALIGN_SIZE 256
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261 char cReadOnlyArray[ mainREAD_ONLY_ARRAY_SIZE ] mainALIGN_TO( mainREAD_ONLY_ALIGN_SIZE );
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263 #define mainPRIVILEGED_ONLY_ACCESS_ARRAY_SIZE 130
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264 #define mainPRIVILEGED_ONLY_ACCESS_ALIGN_SIZE 128
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265 char cPrivilegedOnlyAccessArray[ mainPRIVILEGED_ONLY_ACCESS_ALIGN_SIZE ] mainALIGN_TO( mainPRIVILEGED_ONLY_ACCESS_ALIGN_SIZE );
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267 /* Fill in a TaskParameters_t structure to define the check task - this is the
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268 structure passed to the xTaskCreateRestricted() function. */
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269 static const TaskParameters_t xCheckTaskParameters =
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271 prvCheckTask, /* pvTaskCode - the function that implements the task. */
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272 "Check", /* pcName */
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273 mainCHECK_TASK_STACK_SIZE_WORDS, /* usStackDepth - defined in words, not bytes. */
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274 ( void * ) 0x12121212, /* pvParameters - this value is just to test that the parameter is being passed into the task correctly. */
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275 ( 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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276 xCheckTaskStack, /* puxStackBuffer - the array to use as the task stack, as declared above. */
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278 /* xRegions - In this case the xRegions array is used to create MPU regions
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279 for all three of the arrays declared directly above. Each MPU region is
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280 created with different parameters. Again, THIS IS JUST TO DEMONSTRATE THE
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281 MPU FUNCTIONALITY, the data is not used by the check tasks primary function
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282 of monitoring the reg test tasks and printing out status information.*/
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284 /* Base address Length Parameters */
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285 { cReadWriteArray, mainREAD_WRITE_ALIGN_SIZE, portMPU_REGION_READ_WRITE },
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286 { cReadOnlyArray, mainREAD_ONLY_ALIGN_SIZE, portMPU_REGION_READ_ONLY },
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287 { cPrivilegedOnlyAccessArray, mainPRIVILEGED_ONLY_ACCESS_ALIGN_SIZE, portMPU_REGION_PRIVILEGED_READ_WRITE }
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293 /*-----------------------------------------------------------*/
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294 /* Data used by the 'reg test' tasks. -----------------------*/
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295 /*-----------------------------------------------------------*/
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297 /* Define the constants used to allocate the reg test task stacks. Note that
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298 that stack size is defined in words, not bytes. */
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299 #define mainREG_TEST_STACK_SIZE_WORDS 128
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300 #define mainREG_TEST_STACK_ALIGNMENT ( mainREG_TEST_STACK_SIZE_WORDS * sizeof( portSTACK_TYPE ) )
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302 /* Declare the stacks that will be used by the reg test tasks. The kernel will
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303 automatically create an MPU region for the stack. The stack alignment must
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304 match its size, so if 128 words are reserved for the stack then it must be
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305 aligned to ( 128 * 4 ) bytes. */
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306 static portSTACK_TYPE xRegTest1Stack[ mainREG_TEST_STACK_SIZE_WORDS ] mainALIGN_TO( mainREG_TEST_STACK_ALIGNMENT );
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307 static portSTACK_TYPE xRegTest2Stack[ mainREG_TEST_STACK_SIZE_WORDS ] mainALIGN_TO( mainREG_TEST_STACK_ALIGNMENT );
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309 /* Fill in a TaskParameters_t structure per reg test task to define the tasks. */
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310 static const TaskParameters_t xRegTest1Parameters =
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312 prvRegTest1Task, /* pvTaskCode - the function that implements the task. */
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313 "RegTest1", /* pcName */
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314 mainREG_TEST_STACK_SIZE_WORDS, /* usStackDepth */
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315 ( void * ) 0x12345678, /* pvParameters - this value is just to test that the parameter is being passed into the task correctly. */
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316 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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317 xRegTest1Stack, /* puxStackBuffer - the array to use as the task stack, as declared above. */
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318 { /* xRegions - this task does not use any non-stack data hence all members are zero. */
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319 /* Base address Length Parameters */
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320 { 0x00, 0x00, 0x00 },
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321 { 0x00, 0x00, 0x00 },
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322 { 0x00, 0x00, 0x00 }
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325 /*-----------------------------------------------------------*/
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327 static TaskParameters_t xRegTest2Parameters =
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329 prvRegTest2Task, /* pvTaskCode - the function that implements the task. */
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330 "RegTest2", /* pcName */
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331 mainREG_TEST_STACK_SIZE_WORDS, /* usStackDepth */
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332 ( 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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333 tskIDLE_PRIORITY, /* uxPriority */
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334 xRegTest2Stack, /* puxStackBuffer - the array to use as the task stack, as declared above. */
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335 { /* xRegions - this task does not use any non-stack data hence all members are zero. */
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336 /* Base address Length Parameters */
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337 { 0x00, 0x00, 0x00 },
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338 { 0x00, 0x00, 0x00 },
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339 { 0x00, 0x00, 0x00 }
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343 /*-----------------------------------------------------------*/
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347 prvSetupHardware();
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349 /* Create the queue used to pass "I'm alive" messages to the check task. */
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350 xFileScopeCheckQueue = xQueueCreate( 1, sizeof( unsigned long ) );
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352 /* One check task uses the task parameter to receive the queue handle.
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353 This allows the file scope variable to be accessed from within the task.
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354 The pvParameters member of xRegTest2Parameters can only be set after the
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355 queue has been created so is set here. */
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356 xRegTest2Parameters.pvParameters = xFileScopeCheckQueue;
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358 /* Create the three test tasks. Handles to the created tasks are not
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359 required, hence the second parameter is NULL. */
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360 xTaskCreateRestricted( &xRegTest1Parameters, NULL );
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361 xTaskCreateRestricted( &xRegTest2Parameters, NULL );
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362 xTaskCreateRestricted( &xCheckTaskParameters, NULL );
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364 /* Create the tasks that are created using the original xTaskCreate() API
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366 xTaskCreate( prvOldStyleUserModeTask, /* The function that implements the task. */
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367 "Task1", /* Text name for the task. */
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368 100, /* Stack depth in words. */
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369 NULL, /* Task parameters. */
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370 3, /* Priority and mode (user in this case). */
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374 xTaskCreate( prvOldStylePrivilegedModeTask, /* The function that implements the task. */
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375 "Task2", /* Text name for the task. */
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376 100, /* Stack depth in words. */
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377 NULL, /* Task parameters. */
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378 ( 3 | portPRIVILEGE_BIT ), /* Priority and mode. */
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382 /* Start the scheduler. */
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383 vTaskStartScheduler();
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385 /* Will only get here if there was insufficient memory to create the idle
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390 /*-----------------------------------------------------------*/
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392 static void prvCheckTask( void *pvParameters )
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394 /* This task is created in privileged mode so can access the file scope
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395 queue variable. Take a stack copy of this before the task is set into user
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396 mode. Once that task is in user mode the file scope queue variable will no
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397 longer be accessible but the stack copy will. */
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398 QueueHandle_t xQueue = xFileScopeCheckQueue;
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400 unsigned long ulStillAliveCounts[ 2 ] = { 0 };
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401 const char *pcStatusMessage = "PASS\r\n";
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403 /* The debug_printf() function uses RAM that is outside of the control of the
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404 application writer. Therefore the application_defined_privileged_functions.h
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405 header file is used to provide a version that executes with privileges. */
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406 extern int MPU_debug_printf( const char *pcMessage );
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408 /* Just to remove compiler warning. */
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409 ( void ) pvParameters;
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411 /* Demonstrate how the various memory regions can and can't be accessed.
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412 The task privilege level is set down to user mode within this function. */
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413 prvTestMemoryRegions();
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415 /* Tests are done so lower the privilege status. */
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416 portSWITCH_TO_USER_MODE();
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418 /* This loop performs the main function of the task, which is blocking
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419 on a message queue then processing each message as it arrives. */
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422 /* Wait for the next message to arrive. */
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423 xQueueReceive( xQueue, &lMessage, portMAX_DELAY );
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427 case mainREG_TEST_1_STILL_EXECUTING :
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428 /* Message from task 1, so task 1 must still be executing. */
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429 ( ulStillAliveCounts[ 0 ] )++;
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432 case mainREG_TEST_2_STILL_EXECUTING :
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433 /* Message from task 2, so task 2 must still be executing. */
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434 ( ulStillAliveCounts[ 1 ] )++;
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437 case mainPRINT_SYSTEM_STATUS :
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438 /* Message from tick hook, time to print out the system
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439 status. If messages has stopped arriving from either reg
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440 test task then the status must be set to fail. */
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441 if( ( ulStillAliveCounts[ 0 ] == 0 ) || ( ulStillAliveCounts[ 1 ] == 0 ) )
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443 /* One or both of the test tasks are no longer sending
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444 'still alive' messages. */
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445 pcStatusMessage = "FAIL\r\n";
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448 /* Print a pass/fail message to the terminal. This will be
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449 visible in the CrossWorks IDE. */
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450 MPU_debug_printf( pcStatusMessage );
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452 /* Reset the count of 'still alive' messages. */
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453 memset( ulStillAliveCounts, 0x00, sizeof( ulStillAliveCounts ) );
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457 /* Something unexpected happened. Delete this task so the
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458 error is apparent (no output will be displayed). */
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464 /*-----------------------------------------------------------*/
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466 static void prvTestMemoryRegions( void )
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471 /* The check task (from which this function is called) is created in the
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472 Privileged mode. The privileged array can be both read from and written
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473 to while this task is privileged. */
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474 cPrivilegedOnlyAccessArray[ 0 ] = 'a';
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475 if( cPrivilegedOnlyAccessArray[ 0 ] != 'a' )
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477 /* Something unexpected happened. Delete this task so the error is
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478 apparent (no output will be displayed). */
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482 /* Writing off the end of the RAM allocated to this task will *NOT* cause a
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483 protection fault because the task is still executing in a privileged mode.
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484 Uncomment the following to test. */
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485 /*cPrivilegedOnlyAccessArray[ mainPRIVILEGED_ONLY_ACCESS_ALIGN_SIZE ] = 'a';*/
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487 /* Now set the task into user mode. */
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488 portSWITCH_TO_USER_MODE();
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490 /* Accessing the privileged only array will now cause a fault. Uncomment
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491 the following line to test. */
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492 /*cPrivilegedOnlyAccessArray[ 0 ] = 'a';*/
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494 /* The read/write array can still be successfully read and written. */
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495 for( l = 0; l < mainREAD_WRITE_ALIGN_SIZE; l++ )
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497 cReadWriteArray[ l ] = 'a';
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498 if( cReadWriteArray[ l ] != 'a' )
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500 /* Something unexpected happened. Delete this task so the error is
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501 apparent (no output will be displayed). */
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506 /* But attempting to read or write off the end of the RAM allocated to this
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507 task will cause a fault. Uncomment either of the following two lines to
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509 /* cReadWriteArray[ 0 ] = cReadWriteArray[ -1 ]; */
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510 /* cReadWriteArray[ mainREAD_WRITE_ALIGN_SIZE ] = 0x00; */
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512 /* The read only array can be successfully read... */
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513 for( l = 0; l < mainREAD_ONLY_ALIGN_SIZE; l++ )
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515 cTemp = cReadOnlyArray[ l ];
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518 /* ...but cannot be written. Uncomment the following line to test. */
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519 /* cReadOnlyArray[ 0 ] = 'a'; */
\r
521 /* Writing to the first and last locations in the stack array should not
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522 cause a protection fault. Note that doing this will cause the kernel to
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523 detect a stack overflow if configCHECK_FOR_STACK_OVERFLOW is greater than
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525 xCheckTaskStack[ 0 ] = 0;
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526 xCheckTaskStack[ mainCHECK_TASK_STACK_SIZE_WORDS - 1 ] = 0;
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528 /* Writing off either end of the stack array should cause a protection
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529 fault, uncomment either of the following two lines to test. */
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530 /* xCheckTaskStack[ -1 ] = 0; */
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531 /* xCheckTaskStack[ mainCHECK_TASK_STACK_SIZE_WORDS ] = 0; */
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535 /*-----------------------------------------------------------*/
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537 static void prvRegTest1Task( void *pvParameters )
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539 /* This task is created in privileged mode so can access the file scope
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540 queue variable. Take a stack copy of this before the task is set into user
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541 mode. Once this task is in user mode the file scope queue variable will no
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542 longer be accessible but the stack copy will. */
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543 QueueHandle_t xQueue = xFileScopeCheckQueue;
\r
545 /* Now the queue handle has been obtained the task can switch to user
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546 mode. This is just one method of passing a handle into a protected
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547 task, the other reg test task uses the task parameter instead. */
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548 portSWITCH_TO_USER_MODE();
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550 /* First check that the parameter value is as expected. */
\r
551 if( pvParameters != ( void * ) 0x12345678 )
\r
553 /* Error detected. Delete the task so it stops communicating with
\r
561 /* This task tests the kernel context switch mechanism by reading and
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562 writing directly to registers - which requires the test to be written
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563 in assembly code. */
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566 " MOV R4, #104 \n" /* Set registers to a known value. R0 to R1 are done in the loop below. */
\r
571 " MOV R10, #110 \n"
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572 " MOV R11, #111 \n"
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574 " MOV R0, #100 \n" /* Set the scratch registers to known values - done inside the loop as they get clobbered. */
\r
578 " MOV R12, #112 \n"
\r
579 " SVC #1 \n" /* Yield just to increase test coverage. */
\r
580 " CMP R0, #100 \n" /* Check all the registers still contain their expected values. */
\r
581 " BNE prvDeleteMe \n" /* Value was not as expected, delete the task so it stops communicating with the check task. */
\r
583 " BNE prvDeleteMe \n"
\r
585 " BNE prvDeleteMe \n"
\r
587 " BNE prvDeleteMe \n"
\r
589 " BNE prvDeleteMe \n"
\r
591 " BNE prvDeleteMe \n"
\r
593 " BNE prvDeleteMe \n"
\r
595 " BNE prvDeleteMe \n"
\r
597 " BNE prvDeleteMe \n"
\r
598 " CMP R10, #110 \n"
\r
599 " BNE prvDeleteMe \n"
\r
600 " CMP R11, #111 \n"
\r
601 " BNE prvDeleteMe \n"
\r
602 " CMP R12, #112 \n"
\r
603 " BNE prvDeleteMe \n"
\r
604 :::"r0", "r1", "r2", "r3", "r4", "r5", "r6", "r8", "r9", "r10", "r11", "r12"
\r
607 /* Send mainREG_TEST_1_STILL_EXECUTING to the check task to indicate that this
\r
608 task is still functioning. */
\r
609 prvSendImAlive( xQueue, mainREG_TEST_1_STILL_EXECUTING );
\r
611 /* Go back to check all the register values again. */
\r
612 __asm volatile( " B reg1loop " );
\r
615 /*-----------------------------------------------------------*/
\r
617 static void prvRegTest2Task( void *pvParameters )
\r
619 /* The queue handle is passed in as the task parameter. This is one method of
\r
620 passing data into a protected task, the other reg test task uses a different
\r
622 QueueHandle_t xQueue = ( QueueHandle_t ) pvParameters;
\r
626 /* This task tests the kernel context switch mechanism by reading and
\r
627 writing directly to registers - which requires the test to be written
\r
628 in assembly code. */
\r
631 " MOV R4, #4 \n" /* Set registers to a known value. R0 to R1 are done in the loop below. */
\r
634 " MOV R8, #8 \n" /* Frame pointer is omitted as it must not be changed. */
\r
639 " MOV R0, #13 \n" /* Set the scratch registers to known values - done inside the loop as they get clobbered. */
\r
644 " CMP R0, #13 \n" /* Check all the registers still contain their expected values. */
\r
645 " BNE prvDeleteMe \n" /* Value was not as expected, delete the task so it stops communicating with the check task */
\r
647 " BNE prvDeleteMe \n"
\r
649 " BNE prvDeleteMe \n"
\r
651 " BNE prvDeleteMe \n"
\r
653 " BNE prvDeleteMe \n"
\r
655 " BNE prvDeleteMe \n"
\r
657 " BNE prvDeleteMe \n"
\r
659 " BNE prvDeleteMe \n"
\r
661 " BNE prvDeleteMe \n"
\r
663 " BNE prvDeleteMe \n"
\r
665 " BNE prvDeleteMe \n"
\r
667 " BNE prvDeleteMe \n"
\r
668 :::"r0", "r1", "r2", "r3", "r4", "r5", "r6", "r8", "r9", "r10", "r11", "r12"
\r
671 /* Send mainREG_TEST_2_STILL_EXECUTING to the check task to indicate that this
\r
672 task is still functioning. */
\r
673 prvSendImAlive( xQueue, mainREG_TEST_2_STILL_EXECUTING );
\r
675 /* Go back to check all the register values again. */
\r
676 __asm volatile( " B reg2loop " );
\r
679 /*-----------------------------------------------------------*/
\r
681 void vApplicationIdleHook( void )
\r
683 extern unsigned long __SRAM_segment_end__[];
\r
684 extern unsigned long __privileged_data_start__[];
\r
685 extern unsigned long __privileged_data_end__[];
\r
686 extern unsigned long __FLASH_segment_start__[];
\r
687 extern unsigned long __FLASH_segment_end__[];
\r
688 volatile unsigned long *pul;
\r
689 volatile unsigned long ulReadData;
\r
691 /* The idle task, and therefore this function, run in Supervisor mode and
\r
692 can therefore access all memory. Try reading from corners of flash and
\r
693 RAM to ensure a memory fault does not occur.
\r
695 Start with the edges of the privileged data area. */
\r
696 pul = __privileged_data_start__;
\r
698 pul = __privileged_data_end__ - 1;
\r
701 /* Next the standard SRAM area. */
\r
702 pul = __SRAM_segment_end__ - 1;
\r
705 /* And the standard Flash area - the start of which is marked for
\r
706 privileged access only. */
\r
707 pul = __FLASH_segment_start__;
\r
709 pul = __FLASH_segment_end__ - 1;
\r
712 /* Reading off the end of Flash or SRAM space should cause a fault.
\r
713 Uncomment one of the following two pairs of lines to test. */
\r
715 /* pul = __FLASH_segment_end__ + 4;
\r
716 ulReadData = *pul; */
\r
718 /* pul = __SRAM_segment_end__ + 1;
\r
719 ulReadData = *pul; */
\r
721 ( void ) ulReadData;
\r
723 /*-----------------------------------------------------------*/
\r
725 static void prvOldStyleUserModeTask( void *pvParameters )
\r
727 extern unsigned long __privileged_data_start__[];
\r
728 extern unsigned long __privileged_data_end__[];
\r
729 extern unsigned long __SRAM_segment_end__[];
\r
730 extern unsigned long __privileged_functions_end__[];
\r
731 extern unsigned long __FLASH_segment_start__[];
\r
732 extern unsigned long __FLASH_segment_end__[];
\r
733 const volatile unsigned long *pulStandardPeripheralRegister = ( volatile unsigned long * ) 0x400FC0C4; /* PCONP */
\r
734 volatile unsigned long *pul;
\r
735 volatile unsigned long ulReadData;
\r
737 /* The following lines are commented out to prevent the unused variable
\r
738 compiler warnings when the tests that use the variable are also commented out.
\r
739 extern unsigned long __privileged_functions_start__[];
\r
740 const volatile unsigned long *pulSystemPeripheralRegister = ( volatile unsigned long * ) 0xe000e014; */
\r
742 ( void ) pvParameters;
\r
744 /* This task is created in User mode using the original xTaskCreate() API
\r
745 function. It should have access to all Flash and RAM except that marked
\r
746 as Privileged access only. Reading from the start and end of the non-
\r
747 privileged RAM should not cause a problem (the privileged RAM is the first
\r
748 block at the bottom of the RAM memory). */
\r
749 pul = __privileged_data_end__ + 1;
\r
751 pul = __SRAM_segment_end__ - 1;
\r
754 /* Likewise reading from the start and end of the non-privileged Flash
\r
755 should not be a problem (the privileged Flash is the first block at the
\r
756 bottom of the Flash memory). */
\r
757 pul = __privileged_functions_end__ + 1;
\r
759 pul = __FLASH_segment_end__ - 1;
\r
762 /* Standard peripherals are accessible. */
\r
763 ulReadData = *pulStandardPeripheralRegister;
\r
765 /* System peripherals are not accessible. Uncomment the following line
\r
766 to test. Also uncomment the declaration of pulSystemPeripheralRegister
\r
767 at the top of this function. */
\r
768 /* ulReadData = *pulSystemPeripheralRegister; */
\r
770 /* Reading from anywhere inside the privileged Flash or RAM should cause a
\r
771 fault. This can be tested by uncommenting any of the following pairs of
\r
772 lines. Also uncomment the declaration of __privileged_functions_start__
\r
773 at the top of this function. */
\r
775 /* pul = __privileged_functions_start__;
\r
776 ulReadData = *pul; */
\r
778 /* pul = __privileged_functions_end__ - 1;
\r
779 ulReadData = *pul; */
\r
781 /* pul = __privileged_data_start__;
\r
782 ulReadData = *pul; */
\r
784 /* pul = __privileged_data_end__ - 1;
\r
785 ulReadData = *pul; */
\r
787 /* Must not just run off the end of a task function, so delete this task.
\r
788 Note that because this task was created using xTaskCreate() the stack was
\r
789 allocated dynamically and I have not included any code to free it again. */
\r
790 vTaskDelete( NULL );
\r
792 ( void ) ulReadData;
\r
794 /*-----------------------------------------------------------*/
\r
796 static void prvOldStylePrivilegedModeTask( void *pvParameters )
\r
798 extern unsigned long __privileged_data_start__[];
\r
799 extern unsigned long __privileged_data_end__[];
\r
800 extern unsigned long __SRAM_segment_end__[];
\r
801 extern unsigned long __privileged_functions_start__[];
\r
802 extern unsigned long __privileged_functions_end__[];
\r
803 extern unsigned long __FLASH_segment_start__[];
\r
804 extern unsigned long __FLASH_segment_end__[];
\r
805 volatile unsigned long *pul;
\r
806 volatile unsigned long ulReadData;
\r
807 const volatile unsigned long *pulSystemPeripheralRegister = ( volatile unsigned long * ) 0xe000e014; /* Systick */
\r
808 const volatile unsigned long *pulStandardPeripheralRegister = ( volatile unsigned long * ) 0x400FC0C4; /* PCONP */
\r
810 ( void ) pvParameters;
\r
812 /* This task is created in Privileged mode using the original xTaskCreate()
\r
813 API function. It should have access to all Flash and RAM including that
\r
814 marked as Privileged access only. So reading from the start and end of the
\r
815 non-privileged RAM should not cause a problem (the privileged RAM is the
\r
816 first block at the bottom of the RAM memory). */
\r
817 pul = __privileged_data_end__ + 1;
\r
819 pul = __SRAM_segment_end__ - 1;
\r
822 /* Likewise reading from the start and end of the non-privileged Flash
\r
823 should not be a problem (the privileged Flash is the first block at the
\r
824 bottom of the Flash memory). */
\r
825 pul = __privileged_functions_end__ + 1;
\r
827 pul = __FLASH_segment_end__ - 1;
\r
830 /* Reading from anywhere inside the privileged Flash or RAM should also
\r
831 not be a problem. */
\r
832 pul = __privileged_functions_start__;
\r
834 pul = __privileged_functions_end__ - 1;
\r
836 pul = __privileged_data_start__;
\r
838 pul = __privileged_data_end__ - 1;
\r
841 /* Finally, accessing both System and normal peripherals should both be
\r
843 ulReadData = *pulSystemPeripheralRegister;
\r
844 ulReadData = *pulStandardPeripheralRegister;
\r
846 /* Must not just run off the end of a task function, so delete this task.
\r
847 Note that because this task was created using xTaskCreate() the stack was
\r
848 allocated dynamically and I have not included any code to free it again. */
\r
849 vTaskDelete( NULL );
\r
851 ( void ) ulReadData;
\r
853 /*-----------------------------------------------------------*/
\r
855 static void prvDeleteMe( void )
\r
857 vTaskDelete( NULL );
\r
859 /*-----------------------------------------------------------*/
\r
861 static void prvSendImAlive( QueueHandle_t xHandle, unsigned long ulTaskNumber )
\r
863 if( xHandle != NULL )
\r
865 xQueueSend( xHandle, &ulTaskNumber, mainDONT_BLOCK );
\r
868 /*-----------------------------------------------------------*/
\r
870 static void prvSetupHardware( void )
\r
872 /* If running on Rev A2 silicon, turn the LDO voltage up to 2.75V. This is
\r
873 a workaround to allow the PLL to operate reliably. */
\r
874 if( DEVICE_IS_REVA2 )
\r
876 SysCtlLDOSet( SYSCTL_LDO_2_75V );
\r
879 /* Set the clocking to run from the PLL at 50 MHz */
\r
880 SysCtlClockSet( SYSCTL_SYSDIV_4 | SYSCTL_USE_PLL | SYSCTL_OSC_MAIN | SYSCTL_XTAL_8MHZ );
\r
882 /*-----------------------------------------------------------*/
\r
884 void vApplicationTickHook( void )
\r
886 static unsigned long ulCallCount;
\r
887 const unsigned long ulCallsBetweenSends = 5000 / portTICK_PERIOD_MS;
\r
888 const unsigned long ulMessage = mainPRINT_SYSTEM_STATUS;
\r
889 portBASE_TYPE xDummy;
\r
891 /* If configUSE_TICK_HOOK is set to 1 then this function will get called
\r
892 from each RTOS tick. It is called from the tick interrupt and therefore
\r
893 will be executing in the privileged state. */
\r
897 /* Is it time to print out the pass/fail message again? */
\r
898 if( ulCallCount >= ulCallsBetweenSends )
\r
902 /* Send a message to the check task to command it to check that all
\r
903 the tasks are still running then print out the status.
\r
905 This is running in an ISR so has to use the "FromISR" version of
\r
906 xQueueSend(). Because it is in an ISR it is running with privileges
\r
907 so can access xFileScopeCheckQueue directly. */
\r
908 xQueueSendFromISR( xFileScopeCheckQueue, &ulMessage, &xDummy );
\r
911 /*-----------------------------------------------------------*/
\r
913 void vApplicationStackOverflowHook( TaskHandle_t pxTask, char *pcTaskName )
\r
915 /* If configCHECK_FOR_STACK_OVERFLOW is set to either 1 or 2 then this
\r
916 function will automatically get called if a task overflows its stack. */
\r
918 ( void ) pcTaskName;
\r
921 /*-----------------------------------------------------------*/
\r
923 void vApplicationMallocFailedHook( void )
\r
925 /* If configUSE_MALLOC_FAILED_HOOK is set to 1 then this function will
\r
926 be called automatically if a call to pvPortMalloc() fails. pvPortMalloc()
\r
927 is called automatically when a task, queue or semaphore is created. */
\r
930 /*-----------------------------------------------------------*/
\r
932 /* Just to keep the linker happy. */
\r
933 void __error__( char *pcFilename, unsigned long ulLine )
\r
935 ( void ) pcFilename;
\r
939 /*-----------------------------------------------------------*/
\r
941 /* Just to keep the linker happy. */
\r
942 int uipprintf( const char *fmt, ... )
\r
947 /*-----------------------------------------------------------*/
\r
949 void hard_fault_handler(unsigned int * hardfault_args)
\r
951 volatile unsigned int stacked_r0;
\r
952 volatile unsigned int stacked_r1;
\r
953 volatile unsigned int stacked_r2;
\r
954 volatile unsigned int stacked_r3;
\r
955 volatile unsigned int stacked_r12;
\r
956 volatile unsigned int stacked_lr;
\r
957 volatile unsigned int stacked_pc;
\r
958 volatile unsigned int stacked_psr;
\r
960 stacked_r0 = ((unsigned long) hardfault_args[0]);
\r
961 stacked_r1 = ((unsigned long) hardfault_args[1]);
\r
962 stacked_r2 = ((unsigned long) hardfault_args[2]);
\r
963 stacked_r3 = ((unsigned long) hardfault_args[3]);
\r
965 stacked_r12 = ((unsigned long) hardfault_args[4]);
\r
966 stacked_lr = ((unsigned long) hardfault_args[5]);
\r
967 stacked_pc = ((unsigned long) hardfault_args[6]);
\r
968 stacked_psr = ((unsigned long) hardfault_args[7]);
\r
970 /* Inspect stacked_pc to locate the offending instruction. */
\r
973 ( void ) stacked_psr;
\r
974 ( void ) stacked_pc;
\r
975 ( void ) stacked_lr;
\r
976 ( void ) stacked_r12;
\r
977 ( void ) stacked_r0;
\r
978 ( void ) stacked_r1;
\r
979 ( void ) stacked_r2;
\r
980 ( void ) stacked_r3;
\r
982 /*-----------------------------------------------------------*/
\r
984 void Fault_ISR( void ) __attribute__((naked));
\r
985 void Fault_ISR( void )
\r
991 " mrseq r0, msp \n"
\r
992 " mrsne r0, psp \n"
\r
993 " ldr r1, [r0, #24] \n"
\r
994 " ldr r2, handler_address_const \n"
\r
996 " handler_address_const: .word hard_fault_handler \n"
\r
999 /*-----------------------------------------------------------*/
\r
1001 void MPU_Fault_ISR( void ) __attribute__((naked));
\r
1002 void MPU_Fault_ISR( void )
\r
1008 " mrseq r0, msp \n"
\r
1009 " mrsne r0, psp \n"
\r
1010 " ldr r1, [r0, #24] \n"
\r
1011 " ldr r2, handler_address_const \n"
\r
1013 " handler2_address_const: .word hard_fault_handler \n"
\r
1016 /*-----------------------------------------------------------*/
projects / freertos / blob