2 FreeRTOS V9.0.0rc2 - Copyright (C) 2016 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 ***************************************************************************
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14 >>! NOTE: The modification to the GPL is included to allow you to !<<
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15 >>! distribute a combined work that includes FreeRTOS without being !<<
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16 >>! obliged to provide the source code for proprietary components !<<
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17 >>! outside of the FreeRTOS kernel. !<<
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18 ***************************************************************************
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20 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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21 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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22 FOR A PARTICULAR PURPOSE. Full license text is available on the following
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23 link: http://www.freertos.org/a00114.html
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25 ***************************************************************************
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27 * FreeRTOS provides completely free yet professionally developed, *
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28 * robust, strictly quality controlled, supported, and cross *
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29 * platform software that is more than just the market leader, it *
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30 * is the industry's de facto standard. *
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32 * Help yourself get started quickly while simultaneously helping *
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33 * to support the FreeRTOS project by purchasing a FreeRTOS *
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34 * tutorial book, reference manual, or both: *
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35 * http://www.FreeRTOS.org/Documentation *
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37 ***************************************************************************
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39 http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
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40 the FAQ page "My application does not run, what could be wrong?". Have you
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41 defined configASSERT()?
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43 http://www.FreeRTOS.org/support - In return for receiving this top quality
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44 embedded software for free we request you assist our global community by
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45 participating in the support forum.
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47 http://www.FreeRTOS.org/training - Investing in training allows your team to
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48 be as productive as possible as early as possible. Now you can receive
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49 FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
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50 Ltd, and the world's leading authority on the world's leading RTOS.
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52 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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53 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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54 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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56 http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
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57 Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
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59 http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
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60 Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
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61 licenses offer ticketed support, indemnification and commercial middleware.
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63 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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64 engineered and independently SIL3 certified version for use in safety and
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65 mission critical applications that require provable dependability.
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72 * This file demonstrates the use of FreeRTOS-MPU. It creates tasks in both
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73 * User mode and Privileged mode, and using both the original xTaskCreate() and
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74 * the new xTaskCreateRestricted() API functions. The purpose of each created
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75 * task is documented in the comments above the task function prototype (in
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76 * this file), with the task behaviour demonstrated and documented within the
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77 * task function itself. In addition a queue is used to demonstrate passing
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78 * data between protected/restricted tasks as well as passing data between an
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79 * interrupt and a protected/restricted task.
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82 /* Standard includes. */
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85 /* Scheduler includes. */
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86 #include "FreeRTOS.h"
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91 /*-----------------------------------------------------------*/
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93 /* Misc constants. */
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94 #define mainDONT_BLOCK ( 0 )
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96 /* Definitions for the messages that can be sent to the check task. */
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97 #define mainREG_TEST_1_STILL_EXECUTING ( 0 )
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98 #define mainREG_TEST_2_STILL_EXECUTING ( 1 )
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99 #define mainPRINT_SYSTEM_STATUS ( 2 )
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101 /* GCC specifics. */
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102 #define mainALIGN_TO( x ) __attribute__((aligned(x)))
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104 /* Hardware register addresses. */
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105 #define mainVTOR ( * ( volatile uint32_t * ) 0xE000ED08 )
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106 #define mainNVIC_AUX_ACTLR ( * ( volatile uint32_t * ) 0xE000E008 )
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107 #define mainEC_INTERRUPT_CONTROL ( * ( volatile uint32_t * ) 0x4000FC18 )
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109 /*-----------------------------------------------------------*/
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110 /* Prototypes for functions that implement tasks. -----------*/
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111 /*-----------------------------------------------------------*/
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114 * Prototype for the reg test tasks. Amongst other things, these fill the CPU
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115 * registers with known values before checking that the registers still contain
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116 * the expected values. Each of the two tasks use different values so an error
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117 * in the context switch mechanism can be caught. Both reg test tasks execute
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118 * at the idle priority so will get preempted regularly. Each task repeatedly
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119 * sends a message on a queue so long as it remains functioning correctly. If
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120 * an error is detected within the task the task is simply deleted.
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122 static void prvRegTest1Task( void *pvParameters );
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123 static void prvRegTest2Task( void *pvParameters );
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126 * Prototype for the check task. The check task demonstrates various features
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127 * of the MPU before entering a loop where it waits for messages to arrive on a
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130 * Two types of messages can be processes:
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132 * 1) "I'm Alive" messages sent from the reg test tasks, indicating that the
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133 * task is still operational.
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135 * 2) "Print Status commands" sent periodically by the tick hook function (and
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136 * therefore from within an interrupt) which command the check task to write
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137 * either pass or fail to the terminal, depending on the status of the reg
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140 static void prvCheckTask( void *pvParameters );
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143 * Prototype for a task created in User mode using the original vTaskCreate()
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144 * API function. The task demonstrates the characteristics of such a task,
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145 * before simply deleting itself.
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147 static void prvOldStyleUserModeTask( void *pvParameters );
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150 * Prototype for a task created in Privileged mode using the original
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151 * vTaskCreate() API function. The task demonstrates the characteristics of
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152 * such a task, before simply deleting itself.
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154 static void prvOldStylePrivilegedModeTask( void *pvParameters );
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157 * A task that is deleted by the Idle task. This is just done for code
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158 * coverage test purposes.
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160 static void prvTaskToDelete( void *pvParameters );
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162 /*-----------------------------------------------------------*/
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163 /* Prototypes for other misc functions. --------------------*/
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164 /*-----------------------------------------------------------*/
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167 * Just configures any clocks and IO necessary.
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169 static void prvSetupHardware( void );
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172 * Simply deletes the calling task. The function is provided only because it
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173 * is simpler to call from asm code than the normal vTaskDelete() API function.
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174 * It has the noinline attribute because it is called from asm code.
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176 static void prvDeleteMe( void ) __attribute__((noinline));
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179 * Used by both reg test tasks to send messages to the check task. The message
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180 * just lets the check task know that the task is still functioning correctly.
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181 * If a reg test task detects an error it will delete itself, and in so doing
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182 * prevent itself from sending any more 'I'm Alive' messages to the check task.
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184 static void prvSendImAlive( QueueHandle_t xHandle, uint32_t ulTaskNumber );
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187 * The check task is created with access to three memory regions (plus its
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188 * stack). Each memory region is configured with different parameters and
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189 * prvTestMemoryRegions() demonstrates what can and cannot be accessed for each
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190 * region. prvTestMemoryRegions() also demonstrates a task that was created
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191 * as a privileged task settings its own privilege level down to that of a user
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194 static void prvTestMemoryRegions( void );
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196 /*-----------------------------------------------------------*/
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198 /* The handle of the queue used to communicate between tasks and between tasks
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199 and interrupts. Note that this is a file scope variable that falls outside of
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200 any MPU region. As such other techniques have to be used to allow the tasks
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201 to gain access to the queue. See the comments in the tasks themselves for
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202 further information. */
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203 static QueueHandle_t xFileScopeCheckQueue = NULL;
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205 /* Holds the handle of a task that is deleted in the idle task hook - this is
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206 done for code coverage test purposes only. */
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207 static TaskHandle_t xTaskToDelete = NULL;
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210 /*-----------------------------------------------------------*/
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211 /* Data used by the 'check' task. ---------------------------*/
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212 /*-----------------------------------------------------------*/
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214 /* Define the constants used to allocate the check task stack. Note that the
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215 stack size is defined in words, not bytes. */
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216 #define mainCHECK_TASK_STACK_SIZE_WORDS 128
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217 #define mainCHECK_TASK_STACK_ALIGNMENT ( mainCHECK_TASK_STACK_SIZE_WORDS * sizeof( portSTACK_TYPE ) )
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219 /* Declare the stack that will be used by the check task. The kernel will
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220 automatically create an MPU region for the stack. The stack alignment must
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221 match its size, so if 128 words are reserved for the stack then it must be
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222 aligned to ( 128 * 4 ) bytes. */
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223 static portSTACK_TYPE xCheckTaskStack[ mainCHECK_TASK_STACK_SIZE_WORDS ] mainALIGN_TO( mainCHECK_TASK_STACK_ALIGNMENT );
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225 /* Declare three arrays - an MPU region will be created for each array
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226 using the TaskParameters_t structure below. THIS IS JUST TO DEMONSTRATE THE
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227 MPU FUNCTIONALITY, the data is not used by the check tasks primary function
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228 of monitoring the reg test tasks and printing out status information.
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230 Note that the arrays allocate slightly more RAM than is actually assigned to
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231 the MPU region. This is to permit writes off the end of the array to be
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232 detected even when the arrays are placed in adjacent memory locations (with no
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233 gaps between them). The align size must be a power of two. */
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234 #define mainREAD_WRITE_ARRAY_SIZE 130
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235 #define mainREAD_WRITE_ALIGN_SIZE 128
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236 char cReadWriteArray[ mainREAD_WRITE_ARRAY_SIZE ] mainALIGN_TO( mainREAD_WRITE_ALIGN_SIZE );
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238 #define mainREAD_ONLY_ARRAY_SIZE 260
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239 #define mainREAD_ONLY_ALIGN_SIZE 256
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240 char cReadOnlyArray[ mainREAD_ONLY_ARRAY_SIZE ] mainALIGN_TO( mainREAD_ONLY_ALIGN_SIZE );
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242 #define mainPRIVILEGED_ONLY_ACCESS_ARRAY_SIZE 130
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243 #define mainPRIVILEGED_ONLY_ACCESS_ALIGN_SIZE 128
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244 char cPrivilegedOnlyAccessArray[ mainPRIVILEGED_ONLY_ACCESS_ALIGN_SIZE ] mainALIGN_TO( mainPRIVILEGED_ONLY_ACCESS_ALIGN_SIZE );
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246 /* Fill in a TaskParameters_t structure to define the check task - this is the
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247 structure passed to the xTaskCreateRestricted() function. */
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248 static const TaskParameters_t xCheckTaskParameters =
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250 prvCheckTask, /* pvTaskCode - the function that implements the task. */
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251 "Check", /* pcName */
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252 mainCHECK_TASK_STACK_SIZE_WORDS, /* usStackDepth - defined in words, not bytes. */
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253 ( void * ) 0x12121212, /* pvParameters - this value is just to test that the parameter is being passed into the task correctly. */
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254 ( 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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255 xCheckTaskStack, /* puxStackBuffer - the array to use as the task stack, as declared above. */
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257 /* xRegions - In this case the xRegions array is used to create MPU regions
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258 for all three of the arrays declared directly above. Each MPU region is
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259 created with different parameters. Again, THIS IS JUST TO DEMONSTRATE THE
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260 MPU FUNCTIONALITY, the data is not used by the check tasks primary function
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261 of monitoring the reg test tasks and printing out status information.*/
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263 /* Base address Length Parameters */
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264 { cReadWriteArray, mainREAD_WRITE_ALIGN_SIZE, portMPU_REGION_READ_WRITE },
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265 { cReadOnlyArray, mainREAD_ONLY_ALIGN_SIZE, portMPU_REGION_READ_ONLY },
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266 { cPrivilegedOnlyAccessArray, mainPRIVILEGED_ONLY_ACCESS_ALIGN_SIZE, portMPU_REGION_PRIVILEGED_READ_WRITE }
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272 /*-----------------------------------------------------------*/
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273 /* Data used by the 'reg test' tasks. -----------------------*/
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274 /*-----------------------------------------------------------*/
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276 /* Define the constants used to allocate the reg test task stacks. Note that
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277 that stack size is defined in words, not bytes. */
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278 #define mainREG_TEST_STACK_SIZE_WORDS 128
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279 #define mainREG_TEST_STACK_ALIGNMENT ( mainREG_TEST_STACK_SIZE_WORDS * sizeof( portSTACK_TYPE ) )
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281 /* Declare the stacks that will be used by the reg test tasks. The kernel will
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282 automatically create an MPU region for the stack. The stack alignment must
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283 match its size, so if 128 words are reserved for the stack then it must be
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284 aligned to ( 128 * 4 ) bytes. */
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285 static portSTACK_TYPE xRegTest1Stack[ mainREG_TEST_STACK_SIZE_WORDS ] mainALIGN_TO( mainREG_TEST_STACK_ALIGNMENT );
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286 static portSTACK_TYPE xRegTest2Stack[ mainREG_TEST_STACK_SIZE_WORDS ] mainALIGN_TO( mainREG_TEST_STACK_ALIGNMENT );
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288 /* Fill in a TaskParameters_t structure per reg test task to define the tasks. */
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289 static const TaskParameters_t xRegTest1Parameters =
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291 prvRegTest1Task, /* pvTaskCode - the function that implements the task. */
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292 "RegTest1", /* pcName */
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293 mainREG_TEST_STACK_SIZE_WORDS, /* usStackDepth */
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294 ( void * ) 0x12345678, /* pvParameters - this value is just to test that the parameter is being passed into the task correctly. */
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295 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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296 xRegTest1Stack, /* puxStackBuffer - the array to use as the task stack, as declared above. */
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297 { /* xRegions - this task does not use any non-stack data hence all members are zero. */
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298 /* Base address Length Parameters */
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299 { 0x00, 0x00, 0x00 },
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300 { 0x00, 0x00, 0x00 },
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301 { 0x00, 0x00, 0x00 }
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304 /*-----------------------------------------------------------*/
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306 static TaskParameters_t xRegTest2Parameters =
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308 prvRegTest2Task, /* pvTaskCode - the function that implements the task. */
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309 "RegTest2", /* pcName */
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310 mainREG_TEST_STACK_SIZE_WORDS, /* usStackDepth */
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311 ( 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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312 tskIDLE_PRIORITY, /* uxPriority */
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313 xRegTest2Stack, /* puxStackBuffer - the array to use as the task stack, as declared above. */
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314 { /* xRegions - this task does not use any non-stack data hence all members are zero. */
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315 /* Base address Length Parameters */
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316 { 0x00, 0x00, 0x00 },
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317 { 0x00, 0x00, 0x00 },
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318 { 0x00, 0x00, 0x00 }
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322 /*-----------------------------------------------------------*/
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324 /*-----------------------------------------------------------*/
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325 /* Configures the task that is deleted. ---------------------*/
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326 /*-----------------------------------------------------------*/
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328 /* Define the constants used to allocate the stack of the task that is
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329 deleted. Note that that stack size is defined in words, not bytes. */
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330 #define mainDELETE_TASK_STACK_SIZE_WORDS 128
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331 #define mainTASK_TO_DELETE_STACK_ALIGNMENT ( mainDELETE_TASK_STACK_SIZE_WORDS * sizeof( portSTACK_TYPE ) )
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333 /* Declare the stack that will be used by the task that gets deleted. The
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334 kernel will automatically create an MPU region for the stack. The stack
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335 alignment must match its size, so if 128 words are reserved for the stack
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336 then it must be aligned to ( 128 * 4 ) bytes. */
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337 static portSTACK_TYPE xDeleteTaskStack[ mainDELETE_TASK_STACK_SIZE_WORDS ] mainALIGN_TO( mainTASK_TO_DELETE_STACK_ALIGNMENT );
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339 static TaskParameters_t xTaskToDeleteParameters =
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341 prvTaskToDelete, /* pvTaskCode - the function that implements the task. */
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342 "DeleteMe", /* pcName */
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343 mainDELETE_TASK_STACK_SIZE_WORDS, /* usStackDepth */
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344 ( 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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345 tskIDLE_PRIORITY + 1, /* uxPriority */
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346 xDeleteTaskStack, /* puxStackBuffer - the array to use as the task stack, as declared above. */
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347 { /* xRegions - this task does not use any non-stack data hence all members are zero. */
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348 /* Base address Length Parameters */
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349 { 0x00, 0x00, 0x00 },
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350 { 0x00, 0x00, 0x00 },
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351 { 0x00, 0x00, 0x00 }
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355 /*-----------------------------------------------------------*/
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359 prvSetupHardware();
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361 /* Create the queue used to pass "I'm alive" messages to the check task. */
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362 xFileScopeCheckQueue = xQueueCreate( 1, sizeof( uint32_t ) );
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364 /* One check task uses the task parameter to receive the queue handle.
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365 This allows the file scope variable to be accessed from within the task.
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366 The pvParameters member of xRegTest2Parameters can only be set after the
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367 queue has been created so is set here. */
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368 xRegTest2Parameters.pvParameters = xFileScopeCheckQueue;
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370 /* Create the three test tasks. Handles to the created tasks are not
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371 required, hence the second parameter is NULL. */
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372 xTaskCreateRestricted( &xRegTest1Parameters, NULL );
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373 xTaskCreateRestricted( &xRegTest2Parameters, NULL );
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374 xTaskCreateRestricted( &xCheckTaskParameters, NULL );
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376 /* Create a task that does nothing but get deleted. This is done for code
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377 coverage test purposes only. The task's handle is saved in xTaskToDelete
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378 so it can get deleted in the idle task hook. */
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379 xTaskCreateRestricted( &xTaskToDeleteParameters, &xTaskToDelete );
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381 /* Create the tasks that are created using the original xTaskCreate() API
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383 xTaskCreate( prvOldStyleUserModeTask, /* The function that implements the task. */
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384 "Task1", /* Text name for the task. */
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385 100, /* Stack depth in words. */
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386 NULL, /* Task parameters. */
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387 3, /* Priority and mode (user in this case). */
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391 xTaskCreate( prvOldStylePrivilegedModeTask, /* The function that implements the task. */
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392 "Task2", /* Text name for the task. */
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393 100, /* Stack depth in words. */
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394 NULL, /* Task parameters. */
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395 ( 3 | portPRIVILEGE_BIT ), /* Priority and mode. */
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399 /* Start the scheduler. */
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400 vTaskStartScheduler();
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402 /* Will only get here if there was insufficient memory to create the idle
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407 /*-----------------------------------------------------------*/
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409 static void prvCheckTask( void *pvParameters )
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411 /* This task is created in privileged mode so can access the file scope
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412 queue variable. Take a stack copy of this before the task is set into user
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413 mode. Once that task is in user mode the file scope queue variable will no
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414 longer be accessible but the stack copy will. */
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415 QueueHandle_t xQueue = xFileScopeCheckQueue;
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417 uint32_t ulStillAliveCounts[ 2 ] = { 0 };
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418 const char *pcStatusMessage = "PASS\r\n";
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419 volatile uint32_t ulStatus = pdPASS;
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422 /* Just to remove compiler warning. */
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423 ( void ) pvParameters;
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425 /* Demonstrate how the various memory regions can and can't be accessed.
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426 The task privilege level is set down to user mode within this function. */
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427 prvTestMemoryRegions();
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429 /* Tests are done so lower the privilege status. */
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430 portSWITCH_TO_USER_MODE();
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432 /* This loop performs the main function of the task, which is blocking
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433 on a message queue then processing each message as it arrives. */
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436 /* Wait for the next message to arrive. */
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437 xQueueReceive( xQueue, &lMessage, portMAX_DELAY );
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441 case mainREG_TEST_1_STILL_EXECUTING :
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442 /* Message from task 1, so task 1 must still be executing. */
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443 ( ulStillAliveCounts[ 0 ] )++;
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446 case mainREG_TEST_2_STILL_EXECUTING :
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447 /* Message from task 2, so task 2 must still be executing. */
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448 ( ulStillAliveCounts[ 1 ] )++;
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451 case mainPRINT_SYSTEM_STATUS :
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452 /* Message from tick hook, time to print out the system
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453 status. If messages has stopped arriving from either reg
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454 test task then the status must be set to fail. */
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455 if( ( ulStillAliveCounts[ 0 ] == 0 ) || ( ulStillAliveCounts[ 1 ] == 0 ) )
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457 /* One or both of the test tasks are no longer sending
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458 'still alive' messages. */
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459 pcStatusMessage = "FAIL\r\n";
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461 /* ulStatus can be viewed (live) in the Keil watch window. */
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466 /* print pcStatusMessage here. */
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467 ( void ) pcStatusMessage;
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469 /* Reset the count of 'still alive' messages. */
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470 memset( ulStillAliveCounts, 0x00, sizeof( ulStillAliveCounts ) );
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474 /* Something unexpected happened. Delete this task so the
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475 error is apparent (no output will be displayed). */
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481 /*-----------------------------------------------------------*/
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483 static void prvTestMemoryRegions( void )
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488 /* The check task (from which this function is called) is created in the
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489 Privileged mode. The privileged array can be both read from and written
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490 to while this task is privileged. */
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491 cPrivilegedOnlyAccessArray[ 0 ] = 'a';
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492 if( cPrivilegedOnlyAccessArray[ 0 ] != 'a' )
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494 /* Something unexpected happened. Delete this task so the error is
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495 apparent (no output will be displayed). */
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499 /* Writing off the end of the RAM allocated to this task will *NOT* cause a
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500 protection fault because the task is still executing in a privileged mode.
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501 Uncomment the following to test. */
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502 /*cPrivilegedOnlyAccessArray[ mainPRIVILEGED_ONLY_ACCESS_ALIGN_SIZE ] = 'a';*/
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504 /* Now set the task into user mode. */
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505 portSWITCH_TO_USER_MODE();
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507 /* Accessing the privileged only array will now cause a fault. Uncomment
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508 the following line to test. */
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509 /*cPrivilegedOnlyAccessArray[ 0 ] = 'a';*/
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511 /* The read/write array can still be successfully read and written. */
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512 for( x = 0; x < mainREAD_WRITE_ALIGN_SIZE; x++ )
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514 cReadWriteArray[ x ] = 'a';
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515 if( cReadWriteArray[ x ] != 'a' )
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517 /* Something unexpected happened. Delete this task so the error is
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518 apparent (no output will be displayed). */
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523 /* But attempting to read or write off the end of the RAM allocated to this
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524 task will cause a fault. Uncomment either of the following two lines to
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526 /* cReadWriteArray[ 0 ] = cReadWriteArray[ -1 ]; */
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527 /* cReadWriteArray[ mainREAD_WRITE_ALIGN_SIZE ] = 0x00; */
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529 /* The read only array can be successfully read... */
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530 for( x = 0; x < mainREAD_ONLY_ALIGN_SIZE; x++ )
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532 cTemp = cReadOnlyArray[ x ];
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535 /* ...but cannot be written. Uncomment the following line to test. */
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536 /* cReadOnlyArray[ 0 ] = 'a'; */
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538 /* Writing to the first and last locations in the stack array should not
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539 cause a protection fault. Note that doing this will cause the kernel to
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540 detect a stack overflow if configCHECK_FOR_STACK_OVERFLOW is greater than
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541 1, hence the test is commented out by default. */
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542 /* xCheckTaskStack[ 0 ] = 0;
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543 xCheckTaskStack[ mainCHECK_TASK_STACK_SIZE_WORDS - 1 ] = 0; */
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545 /* Writing off either end of the stack array should cause a protection
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546 fault, uncomment either of the following two lines to test. */
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547 /* xCheckTaskStack[ -1 ] = 0; */
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548 /* xCheckTaskStack[ mainCHECK_TASK_STACK_SIZE_WORDS ] = 0; */
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552 /*-----------------------------------------------------------*/
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554 static void prvRegTest1Task( void *pvParameters )
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556 /* This task is created in privileged mode so can access the file scope
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557 queue variable. Take a stack copy of this before the task is set into user
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558 mode. Once this task is in user mode the file scope queue variable will no
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559 longer be accessible but the stack copy will. */
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560 QueueHandle_t xQueue = xFileScopeCheckQueue;
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562 /* Now the queue handle has been obtained the task can switch to user
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563 mode. This is just one method of passing a handle into a protected
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564 task, the other reg test task uses the task parameter instead. */
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565 portSWITCH_TO_USER_MODE();
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567 /* First check that the parameter value is as expected. */
\r
568 if( pvParameters != ( void * ) 0x12345678 )
\r
570 /* Error detected. Delete the task so it stops communicating with
\r
578 /* This task tests the kernel context switch mechanism by reading and
\r
579 writing directly to registers - which requires the test to be written
\r
580 in assembly code. */
\r
583 " MOV R4, #104 \n" /* Set registers to a known value. R0 to R1 are done in the loop below. */
\r
588 " MOV R10, #110 \n"
\r
589 " MOV R11, #111 \n"
\r
591 " MOV R0, #100 \n" /* Set the scratch registers to known values - done inside the loop as they get clobbered. */
\r
595 " MOV R12, #112 \n"
\r
596 " SVC #1 \n" /* Yield just to increase test coverage. */
\r
597 " CMP R0, #100 \n" /* Check all the registers still contain their expected values. */
\r
598 " BNE prvDeleteMe \n" /* Value was not as expected, delete the task so it stops communicating with the check task. */
\r
600 " BNE prvDeleteMe \n"
\r
602 " BNE prvDeleteMe \n"
\r
604 " BNE prvDeleteMe \n"
\r
606 " BNE prvDeleteMe \n"
\r
608 " BNE prvDeleteMe \n"
\r
610 " BNE prvDeleteMe \n"
\r
612 " BNE prvDeleteMe \n"
\r
614 " BNE prvDeleteMe \n"
\r
615 " CMP R10, #110 \n"
\r
616 " BNE prvDeleteMe \n"
\r
617 " CMP R11, #111 \n"
\r
618 " BNE prvDeleteMe \n"
\r
619 " CMP R12, #112 \n"
\r
620 " BNE prvDeleteMe \n"
\r
621 :::"r0", "r1", "r2", "r3", "r4", "r5", "r6", "r8", "r9", "r10", "r11", "r12"
\r
624 /* Send mainREG_TEST_1_STILL_EXECUTING to the check task to indicate that this
\r
625 task is still functioning. */
\r
626 prvSendImAlive( xQueue, mainREG_TEST_1_STILL_EXECUTING );
\r
628 /* Go back to check all the register values again. */
\r
629 __asm volatile( " B reg1loop " );
\r
632 /*-----------------------------------------------------------*/
\r
634 static void prvRegTest2Task( void *pvParameters )
\r
636 /* The queue handle is passed in as the task parameter. This is one method of
\r
637 passing data into a protected task, the other reg test task uses a different
\r
639 QueueHandle_t xQueue = ( QueueHandle_t ) pvParameters;
\r
643 /* This task tests the kernel context switch mechanism by reading and
\r
644 writing directly to registers - which requires the test to be written
\r
645 in assembly code. */
\r
648 " MOV R4, #4 \n" /* Set registers to a known value. R0 to R1 are done in the loop below. */
\r
651 " MOV R8, #8 \n" /* Frame pointer is omitted as it must not be changed. */
\r
656 " MOV R0, #13 \n" /* Set the scratch registers to known values - done inside the loop as they get clobbered. */
\r
661 " CMP R0, #13 \n" /* Check all the registers still contain their expected values. */
\r
662 " BNE prvDeleteMe \n" /* Value was not as expected, delete the task so it stops communicating with the check task */
\r
664 " BNE prvDeleteMe \n"
\r
666 " BNE prvDeleteMe \n"
\r
668 " BNE prvDeleteMe \n"
\r
670 " BNE prvDeleteMe \n"
\r
672 " BNE prvDeleteMe \n"
\r
674 " BNE prvDeleteMe \n"
\r
676 " BNE prvDeleteMe \n"
\r
678 " BNE prvDeleteMe \n"
\r
680 " BNE prvDeleteMe \n"
\r
682 " BNE prvDeleteMe \n"
\r
684 " BNE prvDeleteMe \n"
\r
685 :::"r0", "r1", "r2", "r3", "r4", "r5", "r6", "r8", "r9", "r10", "r11", "r12"
\r
688 /* Send mainREG_TEST_2_STILL_EXECUTING to the check task to indicate that this
\r
689 task is still functioning. */
\r
690 prvSendImAlive( xQueue, mainREG_TEST_2_STILL_EXECUTING );
\r
692 /* Go back to check all the register values again. */
\r
693 __asm volatile( " B reg2loop " );
\r
696 /*-----------------------------------------------------------*/
\r
698 static void prvTaskToDelete( void *pvParameters )
\r
700 /* Remove compiler warnings about unused parameters. */
\r
701 ( void ) pvParameters;
\r
703 /* This task has nothing to do - for code coverage test purposes it is
\r
704 deleted by the Idle task. */
\r
705 vTaskSuspend( NULL );
\r
707 /*-----------------------------------------------------------*/
\r
709 void vApplicationIdleHook( void )
\r
711 extern uint32_t __SRAM_segment_end__[];
\r
712 extern uint32_t __privileged_data_start__[];
\r
713 extern uint32_t __privileged_data_end__[];
\r
714 extern uint32_t __FLASH_segment_start__[];
\r
715 extern uint32_t __FLASH_segment_end__[];
\r
716 volatile uint32_t *pul;
\r
717 volatile uint32_t ulReadData;
\r
719 /* The idle task, and therefore this function, run in Supervisor mode and
\r
720 can therefore access all memory. Try reading from corners of flash and
\r
721 RAM to ensure a memory fault does not occur.
\r
723 Start with the edges of the privileged data area. */
\r
724 pul = __privileged_data_start__;
\r
726 pul = __privileged_data_end__ - 1;
\r
729 /* Next the standard SRAM area. */
\r
730 pul = __SRAM_segment_end__ - 1;
\r
733 /* And the standard Flash area - the start of which is marked for
\r
734 privileged access only. */
\r
735 pul = __FLASH_segment_start__;
\r
737 pul = __FLASH_segment_end__ - 1;
\r
740 /* Reading off the end of Flash or SRAM space should cause a fault.
\r
741 Uncomment one of the following two pairs of lines to test. */
\r
743 /* pul = __FLASH_segment_end__ + 4;
\r
744 ulReadData = *pul; */
\r
746 /* pul = __SRAM_segment_end__ + 1;
\r
747 ulReadData = *pul; */
\r
749 /* One task is created purely so it can be deleted - done for code coverage
\r
751 if( xTaskToDelete != NULL )
\r
753 vTaskDelete( xTaskToDelete );
\r
754 xTaskToDelete = NULL;
\r
757 ( void ) ulReadData;
\r
759 /*-----------------------------------------------------------*/
\r
761 static void prvOldStyleUserModeTask( void *pvParameters )
\r
763 extern uint32_t __privileged_data_start__[];
\r
764 extern uint32_t __privileged_data_end__[];
\r
765 extern uint32_t __SRAM_segment_end__[];
\r
766 extern uint32_t __privileged_functions_end__[];
\r
767 extern uint32_t __FLASH_segment_start__[];
\r
768 extern uint32_t __FLASH_segment_end__[];
\r
769 /*const volatile uint32_t *pulStandardPeripheralRegister = ( volatile uint32_t * ) 0x40000000;*/
\r
770 volatile uint32_t *pul;
\r
771 volatile uint32_t ulReadData;
\r
773 /* The following lines are commented out to prevent the unused variable
\r
774 compiler warnings when the tests that use the variable are also commented out. */
\r
775 /*extern uint32_t __privileged_functions_start__[];
\r
776 const volatile uint32_t *pulSystemPeripheralRegister = ( volatile uint32_t * ) 0xe000e014;*/
\r
778 ( void ) pvParameters;
\r
780 /* This task is created in User mode using the original xTaskCreate() API
\r
781 function. It should have access to all Flash and RAM except that marked
\r
782 as Privileged access only. Reading from the start and end of the non-
\r
783 privileged RAM should not cause a problem (the privileged RAM is the first
\r
784 block at the bottom of the RAM memory). */
\r
785 pul = __privileged_data_end__ + 1;
\r
787 pul = __SRAM_segment_end__ - 1;
\r
790 /* Likewise reading from the start and end of the non-privileged Flash
\r
791 should not be a problem (the privileged Flash is the first block at the
\r
792 bottom of the Flash memory). */
\r
793 pul = __privileged_functions_end__ + 1;
\r
795 pul = __FLASH_segment_end__ - 1;
\r
798 /* Standard peripherals are accessible. */
\r
799 /*ulReadData = *pulStandardPeripheralRegister;*/
\r
801 /* System peripherals are not accessible. Uncomment the following line
\r
802 to test. Also uncomment the declaration of pulSystemPeripheralRegister
\r
803 at the top of this function.
\r
804 ulReadData = *pulSystemPeripheralRegister; */
\r
806 /* Reading from anywhere inside the privileged Flash or RAM should cause a
\r
807 fault. This can be tested by uncommenting any of the following pairs of
\r
808 lines. Also uncomment the declaration of __privileged_functions_start__
\r
809 at the top of this function. */
\r
811 /*pul = __privileged_functions_start__;
\r
812 ulReadData = *pul;*/
\r
814 /*pul = __privileged_functions_end__ - 1;
\r
815 ulReadData = *pul;*/
\r
817 /*pul = __privileged_data_start__;
\r
818 ulReadData = *pul;*/
\r
820 /*pul = __privileged_data_end__ - 1;
\r
821 ulReadData = *pul;*/
\r
823 /* Must not just run off the end of a task function, so delete this task.
\r
824 Note that because this task was created using xTaskCreate() the stack was
\r
825 allocated dynamically and I have not included any code to free it again. */
\r
826 vTaskDelete( NULL );
\r
828 ( void ) ulReadData;
\r
830 /*-----------------------------------------------------------*/
\r
832 static void prvOldStylePrivilegedModeTask( void *pvParameters )
\r
834 extern uint32_t __privileged_data_start__[];
\r
835 extern uint32_t __privileged_data_end__[];
\r
836 extern uint32_t __SRAM_segment_end__[];
\r
837 extern uint32_t __privileged_functions_start__[];
\r
838 extern uint32_t __privileged_functions_end__[];
\r
839 extern uint32_t __FLASH_segment_start__[];
\r
840 extern uint32_t __FLASH_segment_end__[];
\r
841 volatile uint32_t *pul;
\r
842 volatile uint32_t ulReadData;
\r
843 const volatile uint32_t *pulSystemPeripheralRegister = ( volatile uint32_t * ) 0xe000e014; /* Systick */
\r
844 /*const volatile uint32_t *pulStandardPeripheralRegister = ( volatile uint32_t * ) 0x40000000;*/
\r
846 ( void ) pvParameters;
\r
848 /* This task is created in Privileged mode using the original xTaskCreate()
\r
849 API function. It should have access to all Flash and RAM including that
\r
850 marked as Privileged access only. So reading from the start and end of the
\r
851 non-privileged RAM should not cause a problem (the privileged RAM is the
\r
852 first block at the bottom of the RAM memory). */
\r
853 pul = __privileged_data_end__ + 1;
\r
855 pul = __SRAM_segment_end__ - 1;
\r
858 /* Likewise reading from the start and end of the non-privileged Flash
\r
859 should not be a problem (the privileged Flash is the first block at the
\r
860 bottom of the Flash memory). */
\r
861 pul = __privileged_functions_end__ + 1;
\r
863 pul = __FLASH_segment_end__ - 1;
\r
866 /* Reading from anywhere inside the privileged Flash or RAM should also
\r
867 not be a problem. */
\r
868 pul = __privileged_functions_start__;
\r
870 pul = __privileged_functions_end__ - 1;
\r
872 pul = __privileged_data_start__;
\r
874 pul = __privileged_data_end__ - 1;
\r
877 /* Finally, accessing both System and normal peripherals should both be
\r
879 ulReadData = *pulSystemPeripheralRegister;
\r
880 /*ulReadData = *pulStandardPeripheralRegister;*/
\r
882 /* Must not just run off the end of a task function, so delete this task.
\r
883 Note that because this task was created using xTaskCreate() the stack was
\r
884 allocated dynamically and I have not included any code to free it again. */
\r
885 vTaskDelete( NULL );
\r
887 ( void ) ulReadData;
\r
889 /*-----------------------------------------------------------*/
\r
891 static void prvDeleteMe( void )
\r
893 vTaskDelete( NULL );
\r
895 /*-----------------------------------------------------------*/
\r
897 static void prvSendImAlive( QueueHandle_t xHandle, uint32_t ulTaskNumber )
\r
899 if( xHandle != NULL )
\r
901 xQueueSend( xHandle, &ulTaskNumber, mainDONT_BLOCK );
\r
904 /*-----------------------------------------------------------*/
\r
906 static void prvSetupHardware( void )
\r
909 /*-----------------------------------------------------------*/
\r
911 void vApplicationTickHook( void )
\r
913 static uint32_t ulCallCount;
\r
914 const uint32_t ulCallsBetweenSends = 5000UL / configTICK_RATE_HZ;
\r
915 const uint32_t ulMessage = mainPRINT_SYSTEM_STATUS;
\r
916 portBASE_TYPE xDummy;
\r
918 /* If configUSE_TICK_HOOK is set to 1 then this function will get called
\r
919 from each RTOS tick. It is called from the tick interrupt and therefore
\r
920 will be executing in the privileged state. */
\r
924 /* Is it time to print out the pass/fail message again? */
\r
925 if( ulCallCount >= ulCallsBetweenSends )
\r
929 /* Send a message to the check task to command it to check that all
\r
930 the tasks are still running then print out the status.
\r
932 This is running in an ISR so has to use the "FromISR" version of
\r
933 xQueueSend(). Because it is in an ISR it is running with privileges
\r
934 so can access xFileScopeCheckQueue directly. */
\r
935 xQueueSendFromISR( xFileScopeCheckQueue, &ulMessage, &xDummy );
\r
938 /*-----------------------------------------------------------*/
\r
940 void vApplicationStackOverflowHook( TaskHandle_t pxTask, char *pcTaskName )
\r
942 /* If configCHECK_FOR_STACK_OVERFLOW is set to either 1 or 2 then this
\r
943 function will automatically get called if a task overflows its stack. */
\r
945 ( void ) pcTaskName;
\r
948 /*-----------------------------------------------------------*/
\r
950 void vApplicationMallocFailedHook( void )
\r
952 /* If configUSE_MALLOC_FAILED_HOOK is set to 1 then this function will
\r
953 be called automatically if a call to pvPortMalloc() fails. pvPortMalloc()
\r
954 is called automatically when a task, queue or semaphore is created. */
\r
957 /*-----------------------------------------------------------*/
\r
959 void hard_fault_handler( uint32_t * hardfault_args )
\r
961 volatile uint32_t stacked_r0;
\r
962 volatile uint32_t stacked_r1;
\r
963 volatile uint32_t stacked_r2;
\r
964 volatile uint32_t stacked_r3;
\r
965 volatile uint32_t stacked_r12;
\r
966 volatile uint32_t stacked_lr;
\r
967 volatile uint32_t stacked_pc;
\r
968 volatile uint32_t stacked_psr;
\r
970 stacked_r0 = ((uint32_t) hardfault_args[0]);
\r
971 stacked_r1 = ((uint32_t) hardfault_args[1]);
\r
972 stacked_r2 = ((uint32_t) hardfault_args[2]);
\r
973 stacked_r3 = ((uint32_t) hardfault_args[3]);
\r
975 stacked_r12 = ((uint32_t) hardfault_args[4]);
\r
976 stacked_lr = ((uint32_t) hardfault_args[5]);
\r
977 stacked_pc = ((uint32_t) hardfault_args[6]);
\r
978 stacked_psr = ((uint32_t) hardfault_args[7]);
\r
980 /* Inspect stacked_pc to locate the offending instruction. */
\r
983 ( void ) stacked_psr;
\r
984 ( void ) stacked_pc;
\r
985 ( void ) stacked_lr;
\r
986 ( void ) stacked_r12;
\r
987 ( void ) stacked_r0;
\r
988 ( void ) stacked_r1;
\r
989 ( void ) stacked_r2;
\r
990 ( void ) stacked_r3;
\r
992 /*-----------------------------------------------------------*/
\r
994 void HardFault_Handler( void ) __attribute__((naked));
\r
995 void HardFault_Handler( void )
\r
1001 " mrseq r0, msp \n"
\r
1002 " mrsne r0, psp \n"
\r
1003 " ldr r1, [r0, #24] \n"
\r
1004 " ldr r2, handler_address_const \n"
\r
1006 " handler_address_const: .word hard_fault_handler \n"
\r
1009 /*-----------------------------------------------------------*/
\r
1011 void MemManage_Handler( void ) __attribute__((naked));
\r
1012 void MemManage_Handler( void )
\r
1018 " mrseq r0, msp \n"
\r
1019 " mrsne r0, psp \n"
\r
1020 " ldr r1, [r0, #24] \n"
\r
1021 " ldr r2, handler2_address_const \n"
\r
1023 " handler2_address_const: .word hard_fault_handler \n"
\r
1027 /*-----------------------------------------------------------*/
\r
1029 /* configUSE_STATIC_ALLOCATION is set to 1, so the application must provide an
\r
1030 implementation of vApplicationGetIdleTaskMemory() to provide the memory that is
\r
1031 used by the Idle task. */
\r
1032 void vApplicationGetIdleTaskMemory( StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize )
\r
1034 /* If the buffers to be provided to the Idle task are declared inside this
\r
1035 function then they must be declared static - otherwise they will be allocated on
\r
1036 the stack and so not exists after this function exits. */
\r
1037 static StaticTask_t xIdleTaskTCB;
\r
1038 static StackType_t uxIdleTaskStack[ configMINIMAL_STACK_SIZE ];
\r
1040 /* Pass out a pointer to the StaticTask_t structure in which the Idle task's
\r
1041 state will be stored. */
\r
1042 *ppxIdleTaskTCBBuffer = &xIdleTaskTCB;
\r
1044 /* Pass out the array that will be used as the Idle task's stack. */
\r
1045 *ppxIdleTaskStackBuffer = uxIdleTaskStack;
\r
1047 /* Pass out the size of the array pointed to by *ppxIdleTaskStackBuffer.
\r
1048 Note that, as the array is necessarily of type StackType_t,
\r
1049 configMINIMAL_STACK_SIZE is specified in words, not bytes. */
\r
1050 *pulIdleTaskStackSize = configMINIMAL_STACK_SIZE;
\r
1052 /*-----------------------------------------------------------*/
\r
1054 /* configUSE_STATIC_ALLOCATION and configUSE_TIMERS are both set to 1, so the
\r
1055 application must provide an implementation of vApplicationGetTimerTaskMemory()
\r
1056 to provide the memory that is used by the Timer service task. */
\r
1057 void vApplicationGetTimerTaskMemory( StaticTask_t **ppxTimerTaskTCBBuffer, StackType_t **ppxTimerTaskStackBuffer, uint32_t *pulTimerTaskStackSize )
\r
1059 /* If the buffers to be provided to the Timer task are declared inside this
\r
1060 function then they must be declared static - otherwise they will be allocated on
\r
1061 the stack and so not exists after this function exits. */
\r
1062 static StaticTask_t xTimerTaskTCB;
\r
1063 static StackType_t uxTimerTaskStack[ configTIMER_TASK_STACK_DEPTH ];
\r
1065 /* Pass out a pointer to the StaticTask_t structure in which the Timer
\r
1066 task's state will be stored. */
\r
1067 *ppxTimerTaskTCBBuffer = &xTimerTaskTCB;
\r
1069 /* Pass out the array that will be used as the Timer task's stack. */
\r
1070 *ppxTimerTaskStackBuffer = uxTimerTaskStack;
\r
1072 /* Pass out the size of the array pointed to by *ppxTimerTaskStackBuffer.
\r
1073 Note that, as the array is necessarily of type StackType_t,
\r
1074 configMINIMAL_STACK_SIZE is specified in words, not bytes. */
\r
1075 *pulTimerTaskStackSize = configTIMER_TASK_STACK_DEPTH;
\r
projects / freertos / blob