2 FreeRTOS V9.0.0 - 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 in a completely statically
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73 * allocated application (with configSUPPORT_DYNAMIC_ALLOCATION set to 0). It
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74 * creates tasks in both User mode and Privileged mode, and using both the
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75 * xTaskCreateStatic() and xTaskCreateRestrictedStatic() API functions. The
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76 * purpose of each created task is documented in the comments above the task
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77 * function prototype (in this file), with the task behaviour demonstrated and
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78 * documented within the task function itself.
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80 * In addition a queue is used to demonstrate passing data between
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81 * protected/restricted tasks as well as passing data between an interrupt and
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82 * a protected/restricted task. A software timer is also used.
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85 /* Standard includes. */
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88 /* Scheduler includes. */
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89 #include "FreeRTOS.h"
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94 #include "event_groups.h"
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96 /*-----------------------------------------------------------*/
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98 /* Misc constants. */
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99 #define mainDONT_BLOCK ( 0 )
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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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107 /* The period of the timer must be less than the rate at which
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108 configPRINT_SYSTEM_STATUS messages are sent to the check task - otherwise the
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109 check task will think the timer has stopped. */
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110 #define mainTIMER_PERIOD pdMS_TO_TICKS( 200 )
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112 /* The name of the task that is deleted by the Idle task is used in a couple of
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113 places, so is #defined. */
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114 #define mainTASK_TO_DELETE_NAME "DeleteMe"
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116 /*-----------------------------------------------------------*/
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117 /* Prototypes for functions that implement tasks. -----------*/
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118 /*-----------------------------------------------------------*/
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121 * NOTE: The filling and checking of the registers in the following two tasks
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122 * is only actually performed when the GCC compiler is used. Use of the
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123 * queue to communicate with the check task is done with all compilers.
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125 * Prototype for the first two register test tasks, which execute in User mode.
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126 * Amongst other things, these fill the CPU registers (other than the FPU
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127 * registers) with known values before checking that the registers still contain
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128 * the expected values. Each of the two tasks use different values so an error
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129 * in the context switch mechanism can be caught. Both tasks execute at the
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130 * idle priority so will get preempted regularly. Each task repeatedly sends a
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131 * message on a queue to a 'check' task so the check task knows the register
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132 * check task is still executing and has not detected any errors. If an error
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133 * is detected within the task the task is simply deleted so it no longer sends
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136 * For demonstration and test purposes, both tasks obtain access to the queue
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137 * handle in different ways; vRegTest1Implementation() is created in Privileged
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138 * mode and copies the queue handle to its local stack before setting itself to
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139 * User mode, and vRegTest2Implementation() receives the task handle using its
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142 extern void vRegTest1Implementation( void *pvParameters );
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143 extern void vRegTest2Implementation( void *pvParameters );
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146 * The second two register test tasks are similar to the first two, but do test
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147 * the floating point registers, execute in Privileged mode, and signal their
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148 * execution status to the 'check' task by incrementing a loop counter on each
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149 * iteration instead of sending a message on a queue. The loop counters use a
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150 * memory region to which the User mode 'check' task has read access.
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152 * The functions ending 'Implementation' are called by the register check tasks.
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154 * The tasks are created with xTaskCreateStatic(), so the stack and variables
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155 * used to hold the task's data structures also have to be provided.
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157 static StackType_t xRegTest3Stack[ configMINIMAL_STACK_SIZE ], xRegTest4Stack[ configMINIMAL_STACK_SIZE ];
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158 static StaticTask_t xRegTest3Buffer, xRegTest4Buffer;
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159 static void prvRegTest3Task( void *pvParameters );
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160 extern void vRegTest3Implementation( void );
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161 static void prvRegTest4Task( void *pvParameters );
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162 extern void vRegTest4Implementation( void );
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165 * Prototype for the check task. The check task demonstrates various features
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166 * of the MPU before entering a loop where it waits for messages to arrive on a
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169 * Two types of messages can be processes:
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171 * 1) "I'm Alive" messages sent from the first two register test tasks and a
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172 * software timer callback, as described above.
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174 * 2) "Print Status commands" sent periodically by the tick hook function (and
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175 * therefore from within an interrupt) which commands the check task to write
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176 * either pass or fail to the terminal, depending on the status of the reg
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177 * test tasks (no write is performed in the simulator!).
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179 static void prvCheckTask( void *pvParameters );
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182 * Prototype for a task created in User mode using vTaskCreateStatic() API
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183 * function. The task demonstrates the characteristics of such a task,
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184 * before simply deleting itself. As the task is created without using any
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185 * dynamic memory allocate the stack and variable in which the task's data
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186 * structure will be stored must also be provided - however the task is
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187 * unprivileged so the stack cannot be in a privileged section.
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189 static StackType_t xUserModeTaskStack[ configMINIMAL_STACK_SIZE ];
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190 static PRIVILEGED_DATA StaticTask_t xUserModeTaskBuffer;
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191 static void prvOldStyleUserModeTask( void *pvParameters );
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194 * Prototype for a task created in Privileged mode using the
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195 * xTaskCreateStatic() API function. The task demonstrates the characteristics
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196 * of such a task, before simply deleting itself. As no dynamic memory
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197 * allocation is used the stack and variable used to hold the task's data
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198 * structure must also be provided. The task is privileged, so the stack can
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199 * be in a privileged section.
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201 static PRIVILEGED_DATA StackType_t xPrivilegedModeTaskStack[ configMINIMAL_STACK_SIZE ];
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202 static PRIVILEGED_DATA StaticTask_t xPrivilegedModeTaskBuffer;
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203 static void prvOldStylePrivilegedModeTask( void *pvParameters );
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206 * A task that exercises the API of various RTOS objects before being deleted by
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207 * the Idle task. This is done for MPU API code coverage test purposes.
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209 static void prvTaskToDelete( void *pvParameters );
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212 * Functions called by prvTaskToDelete() to exercise the MPU API.
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214 static void prvExerciseEventGroupAPI( void );
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215 static void prvExerciseSemaphoreAPI( void );
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216 static void prvExerciseTaskNotificationAPI( void );
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219 * Just configures any clocks and IO necessary.
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221 static void prvSetupHardware( void );
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224 * Simply deletes the calling task. The function is provided only because it
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225 * is simpler to call from asm code than the normal vTaskDelete() API function.
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226 * It has the noinline attribute because it is called from asm code.
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228 void vMainDeleteMe( void ) __attribute__((noinline));
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231 * Used by the first two reg test tasks and a software timer callback function
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232 * to send messages to the check task. The message just lets the check task
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233 * know that the tasks and timer are still functioning correctly. If a reg test
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234 * task detects an error it will delete itself, and in so doing prevent itself
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235 * from sending any more 'I'm Alive' messages to the check task.
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237 void vMainSendImAlive( QueueHandle_t xHandle, uint32_t ulTaskNumber );
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240 * The check task is created with access to three memory regions (plus its
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241 * stack). Each memory region is configured with different parameters and
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242 * prvTestMemoryRegions() demonstrates what can and cannot be accessed for each
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243 * region. prvTestMemoryRegions() also demonstrates a task that was created
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244 * as a privileged task settings its own privilege level down to that of a user
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247 static void prvTestMemoryRegions( void );
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250 * Callback function used with the timer that uses the queue to send messages
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251 * to the check task.
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253 static void prvTimerCallback( TimerHandle_t xExpiredTimer );
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255 /*-----------------------------------------------------------*/
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257 /* The handle of the queue used to communicate between tasks and between tasks
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258 and interrupts. Note that this is a global scope variable that falls outside of
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259 any MPU region. As such other techniques have to be used to allow the tasks
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260 to gain access to the queue. See the comments in the tasks themselves for
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261 further information. */
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262 QueueHandle_t xGlobalScopeCheckQueue = NULL;
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264 /* xGlobalScopeCheckQueue is created using xQueueCreateStatic(), so the storage
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265 area and variable used to hold the queue data structure must also be provided.
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266 These are placed in a prviliged segment. */
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267 static PRIVILEGED_DATA StaticQueue_t xGlobalScopeQueueBuffer;
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268 uint8_t PRIVILEGED_DATA ucGlobalScopeQueueStorageArea[ 1 * sizeof( uint32_t ) ];
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271 /* Holds the handle of a task that is deleted in the idle task hook - this is
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272 done for code coverage test purposes only. */
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273 static TaskHandle_t xTaskToDelete = NULL;
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275 /* The timer that periodically sends data to the check task on the queue. This
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276 is created with xTimerCreateStatic(), so the variable in which the timer's data
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277 structure will be stored must also be provided. The structure is placed in the
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278 kernel's privileged data region. */
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279 static TimerHandle_t xTimer = NULL;
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280 static PRIVILEGED_DATA StaticTimer_t xTimerBuffer;
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282 #if defined ( __GNUC__ )
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283 extern uint32_t __FLASH_segment_start__[];
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284 extern uint32_t __FLASH_segment_end__[];
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285 extern uint32_t __SRAM_segment_start__[];
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286 extern uint32_t __SRAM_segment_end__[];
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287 extern uint32_t __privileged_functions_start__[];
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288 extern uint32_t __privileged_functions_end__[];
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289 extern uint32_t __privileged_data_start__[];
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290 extern uint32_t __privileged_data_end__[];
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291 extern uint32_t __privileged_functions_actual_end__[];
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292 extern uint32_t __privileged_data_actual_end__[];
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294 const uint32_t * __FLASH_segment_start__ = ( uint32_t * ) 0x00UL;
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295 const uint32_t * __FLASH_segment_end__ = ( uint32_t * ) 0x00080000UL;
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296 const uint32_t * __SRAM_segment_start__ = ( uint32_t * ) 0x20000000UL;
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297 const uint32_t * __SRAM_segment_end__ = ( uint32_t * ) 0x20008000UL;
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298 const uint32_t * __privileged_functions_start__ = ( uint32_t * ) 0x00UL;
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299 const uint32_t * __privileged_functions_end__ = ( uint32_t * ) 0x8000UL;
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300 const uint32_t * __privileged_data_start__ = ( uint32_t * ) 0x20000000UL;
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301 const uint32_t * __privileged_data_end__ = ( uint32_t * ) 0x20000800UL;
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303 /*-----------------------------------------------------------*/
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304 /* Data used by the 'check' task. ---------------------------*/
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305 /*-----------------------------------------------------------*/
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307 /* Define the constants used to allocate the check task stack. Note that the
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308 stack size is defined in words, not bytes. */
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309 #define mainCHECK_TASK_STACK_SIZE_WORDS 128
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310 #define mainCHECK_TASK_STACK_ALIGNMENT ( mainCHECK_TASK_STACK_SIZE_WORDS * sizeof( portSTACK_TYPE ) )
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312 /* Declare the stack that will be used by the check task. The kernel will
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313 automatically create an MPU region for the stack. The stack alignment must
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314 match its size, so if 128 words are reserved for the stack then it must be
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315 aligned to ( 128 * 4 ) bytes. */
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316 static portSTACK_TYPE xCheckTaskStack[ mainCHECK_TASK_STACK_SIZE_WORDS ] mainALIGN_TO( mainCHECK_TASK_STACK_ALIGNMENT );
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318 /* Declare the variable in which the check task's data structures will be
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319 stored. PRIVILEGED_DATA is used to place this in the kernel's RAM segment. */
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320 static PRIVILEGED_DATA StaticTask_t xCheckTaskBuffer;
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322 /* Declare three arrays - an MPU region will be created for each array
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323 using the TaskParameters_t structure below. THIS IS JUST TO DEMONSTRATE THE
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324 MPU FUNCTIONALITY, the data is not used by the check tasks primary function
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325 of monitoring the reg test tasks and printing out status information.
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327 Note that the arrays allocate slightly more RAM than is actually assigned to
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328 the MPU region. This is to permit writes off the end of the array to be
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329 detected even when the arrays are placed in adjacent memory locations (with no
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330 gaps between them). The align size must be a power of two. */
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331 #define mainREAD_WRITE_ARRAY_SIZE 130
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332 #define mainREAD_WRITE_ALIGN_SIZE 128
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333 char cReadWriteArray[ mainREAD_WRITE_ARRAY_SIZE ] mainALIGN_TO( mainREAD_WRITE_ALIGN_SIZE );
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335 #define mainREAD_ONLY_ARRAY_SIZE 260
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336 #define mainREAD_ONLY_ALIGN_SIZE 256
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337 char cReadOnlyArray[ mainREAD_ONLY_ARRAY_SIZE ] mainALIGN_TO( mainREAD_ONLY_ALIGN_SIZE );
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339 #define mainPRIVILEGED_ONLY_ACCESS_ARRAY_SIZE 130
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340 #define mainPRIVILEGED_ONLY_ACCESS_ALIGN_SIZE 128
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341 char cPrivilegedOnlyAccessArray[ mainPRIVILEGED_ONLY_ACCESS_ALIGN_SIZE ] mainALIGN_TO( mainPRIVILEGED_ONLY_ACCESS_ALIGN_SIZE );
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343 /* The following two variables are used to communicate the status of the second
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344 two register check tasks (tasks 3 and 4) to the check task. If the variables
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345 keep incrementing, then the register check tasks have not discovered any errors.
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346 If a variable stops incrementing, then an error has been found. The variables
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347 overlay the array that the check task has access to so they can be read by the
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348 check task without causing a memory fault. The check task has the highest
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349 priority so will have finished with the array before the register test tasks
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350 start to access it. */
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351 volatile uint32_t *pulRegTest3LoopCounter = ( uint32_t * ) &( cReadWriteArray[ 0 ] ), *pulRegTest4LoopCounter = ( uint32_t * ) &( cReadWriteArray[ 4 ] );
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353 /* Fill in a TaskParameters_t structure to define the check task - this is the
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354 structure passed to the xTaskCreateRestricted() function. */
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355 static const TaskParameters_t xCheckTaskParameters =
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357 prvCheckTask, /* pvTaskCode - the function that implements the task. */
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358 "Check", /* pcName */
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359 mainCHECK_TASK_STACK_SIZE_WORDS, /* usStackDepth - defined in words, not bytes. */
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360 ( void * ) 0x12121212, /* pvParameters - this value is just to test that the parameter is being passed into the task correctly. */
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361 ( 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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362 xCheckTaskStack, /* puxStackBuffer - the array to use as the task stack, as declared above. */
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364 /* xRegions - In this case the xRegions array is used to create MPU regions
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365 for all three of the arrays declared directly above. Each MPU region is
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366 created with different parameters. Again, THIS IS JUST TO DEMONSTRATE THE
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367 MPU FUNCTIONALITY, the data is not used by the check tasks primary function
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368 of monitoring the reg test tasks and printing out status information.*/
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370 /* Base address Length Parameters */
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371 { cReadWriteArray, mainREAD_WRITE_ALIGN_SIZE, portMPU_REGION_READ_WRITE },
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372 { cReadOnlyArray, mainREAD_ONLY_ALIGN_SIZE, portMPU_REGION_READ_ONLY },
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373 { cPrivilegedOnlyAccessArray, mainPRIVILEGED_ONLY_ACCESS_ALIGN_SIZE, portMPU_REGION_PRIVILEGED_READ_WRITE }
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376 &xCheckTaskBuffer /* Additional structure member present when the task is being created without any dynamic memory allocation. */
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380 /*-----------------------------------------------------------*/
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381 /* Data used by the 'reg test' tasks. -----------------------*/
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382 /*-----------------------------------------------------------*/
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384 /* Define the constants used to allocate the reg test task stacks. Note that
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385 that stack size is defined in words, not bytes. */
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386 #define mainREG_TEST_STACK_SIZE_WORDS 128
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387 #define mainREG_TEST_STACK_ALIGNMENT ( mainREG_TEST_STACK_SIZE_WORDS * sizeof( portSTACK_TYPE ) )
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389 /* Declare the stacks that will be used by the reg test tasks. The kernel will
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390 automatically create an MPU region for the stack. The stack alignment must
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391 match its size, so if 128 words are reserved for the stack then it must be
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392 aligned to ( 128 * 4 ) bytes. */
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393 static portSTACK_TYPE xRegTest1Stack[ mainREG_TEST_STACK_SIZE_WORDS ] mainALIGN_TO( mainREG_TEST_STACK_ALIGNMENT );
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394 static portSTACK_TYPE xRegTest2Stack[ mainREG_TEST_STACK_SIZE_WORDS ] mainALIGN_TO( mainREG_TEST_STACK_ALIGNMENT );
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396 /* The reg test tasks are created using the xTaskCreateRestrictedStatic() API
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397 function, so variables that hold the task's data structures must also be
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398 provided. The are placed in the kernel's privileged memory section. */
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399 static PRIVILEGED_DATA StaticTask_t xRegTest1TaskBuffer, xRegTest2TaskBuffer;
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401 /* Fill in a TaskParameters_t structure per reg test task to define the tasks. */
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402 static const TaskParameters_t xRegTest1Parameters =
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404 vRegTest1Implementation, /* pvTaskCode - the function that implements the task. */
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405 "RegTest1", /* pcName */
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406 mainREG_TEST_STACK_SIZE_WORDS, /* usStackDepth */
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407 ( void * ) configREG_TEST_TASK_1_PARAMETER, /* pvParameters - this value is just to test that the parameter is being passed into the task correctly. */
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408 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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409 xRegTest1Stack, /* puxStackBuffer - the array to use as the task stack, as declared above. */
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410 { /* xRegions - this task does not use any non-stack data hence all members are zero. */
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411 /* Base address Length Parameters */
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412 { 0x00, 0x00, 0x00 },
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413 { 0x00, 0x00, 0x00 },
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414 { 0x00, 0x00, 0x00 }
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417 &xRegTest1TaskBuffer /* Additional parameter required when the task is created with xTaskCreateRestrictedStatic(). */
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419 /*-----------------------------------------------------------*/
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421 static TaskParameters_t xRegTest2Parameters =
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423 vRegTest2Implementation, /* pvTaskCode - the function that implements the task. */
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424 "RegTest2", /* pcName */
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425 mainREG_TEST_STACK_SIZE_WORDS, /* usStackDepth */
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426 ( 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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427 tskIDLE_PRIORITY, /* uxPriority */
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428 xRegTest2Stack, /* puxStackBuffer - the array to use as the task stack, as declared above. */
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429 { /* xRegions - this task does not use any non-stack data hence all members are zero. */
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430 /* Base address Length Parameters */
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431 { 0x00, 0x00, 0x00 },
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432 { 0x00, 0x00, 0x00 },
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433 { 0x00, 0x00, 0x00 }
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436 &xRegTest2TaskBuffer /* Additional parameter required when the task is created with xTaskCreateRestrictedStatic(). */
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439 /*-----------------------------------------------------------*/
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440 /* Configures the task that is deleted. ---------------------*/
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441 /*-----------------------------------------------------------*/
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443 /* Define the constants used to allocate the stack of the task that is
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444 deleted. Note that the stack size is defined in words, not bytes. */
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445 #define mainDELETE_TASK_STACK_SIZE_WORDS 128
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446 #define mainTASK_TO_DELETE_STACK_ALIGNMENT ( mainDELETE_TASK_STACK_SIZE_WORDS * sizeof( portSTACK_TYPE ) )
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448 /* Declare the stack that will be used by the task that gets deleted. The
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449 kernel will automatically create an MPU region for the stack. The stack
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450 alignment must match its size, so if 128 words are reserved for the stack
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451 then it must be aligned to ( 128 * 4 ) bytes. */
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452 static portSTACK_TYPE xDeleteTaskStack[ mainDELETE_TASK_STACK_SIZE_WORDS ] mainALIGN_TO( mainTASK_TO_DELETE_STACK_ALIGNMENT );
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454 /* The task that gets deleted is created using xTaskCreateRestrictedStatic(),
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455 so the variable that stores the task's data structure must also be provided.
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456 This is placed in the kernel's privileged data segment. */
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457 static PRIVILEGED_DATA StaticTask_t xStaticDeleteTaskBuffer;
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459 static TaskParameters_t xTaskToDeleteParameters =
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461 prvTaskToDelete, /* pvTaskCode - the function that implements the task. */
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462 mainTASK_TO_DELETE_NAME, /* pcName */
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463 mainDELETE_TASK_STACK_SIZE_WORDS, /* usStackDepth */
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464 ( 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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465 tskIDLE_PRIORITY + 1, /* uxPriority */
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466 xDeleteTaskStack, /* puxStackBuffer - the array to use as the task stack, as declared above. */
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467 { /* xRegions - this task does not use any non-stack data hence all members are zero. */
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468 /* Base address Length Parameters */
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469 { 0x00, 0x00, 0x00 },
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470 { 0x00, 0x00, 0x00 },
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471 { 0x00, 0x00, 0x00 }
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474 &xStaticDeleteTaskBuffer /* Additional parameter required when xTaskCreateRestrictedStatic() is used. */
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477 /*-----------------------------------------------------------*/
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479 volatile uint32_t ul1 = 0x123, ul2 = 0;
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483 configASSERT( ul1 == 0x123 );
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484 configASSERT( ul2 == 0 );
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485 prvSetupHardware();
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487 /* Create the queue used to pass "I'm alive" messages to the check task. */
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488 xGlobalScopeCheckQueue = xQueueCreateStatic( 1, sizeof( uint32_t ), ucGlobalScopeQueueStorageArea, &xGlobalScopeQueueBuffer );
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490 /* One check task uses the task parameter to receive the queue handle.
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491 This allows the file scope variable to be accessed from within the task.
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492 The pvParameters member of xRegTest2Parameters can only be set after the
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493 queue has been created so is set here. */
\r
494 xRegTest2Parameters.pvParameters = xGlobalScopeCheckQueue;
\r
496 /* Create three test tasks. Handles to the created tasks are not required,
\r
497 hence the second parameter is NULL. */
\r
498 xTaskCreateRestrictedStatic( &xRegTest1Parameters, NULL );
\r
499 xTaskCreateRestrictedStatic( &xRegTest2Parameters, NULL );
\r
500 xTaskCreateRestrictedStatic( &xCheckTaskParameters, NULL );
\r
502 /* Create a task that does nothing but ensure some of the MPU API functions
\r
503 can be called correctly, then get deleted. This is done for code coverage
\r
504 test purposes only. The task's handle is saved in xTaskToDelete so it can
\r
505 get deleted in the idle task hook. */
\r
506 xTaskCreateRestrictedStatic( &xTaskToDeleteParameters, &xTaskToDelete );
\r
508 /* Create the tasks that are created using the original xTaskCreate() API
\r
510 xTaskCreateStatic( prvOldStyleUserModeTask, /* The function that implements the task. */
\r
511 "Task1", /* Text name for the task. */
\r
512 100, /* Stack depth in words. */
\r
513 NULL, /* Task parameters. */
\r
514 3, /* Priority and mode (user in this case). */
\r
515 xUserModeTaskStack, /* Used as the task's stack. */
\r
516 &xUserModeTaskBuffer /* Used to hold the task's data structure. */
\r
519 xTaskCreateStatic( prvOldStylePrivilegedModeTask, /* The function that implements the task. */
\r
520 "Task2", /* Text name for the task. */
\r
521 100, /* Stack depth in words. */
\r
522 NULL, /* Task parameters. */
\r
523 ( 3 | portPRIVILEGE_BIT ), /* Priority and mode. */
\r
524 xPrivilegedModeTaskStack, /* Used as the task's stack. */
\r
525 &xPrivilegedModeTaskBuffer /* Used to hold the task's data structure. */
\r
528 /* Create the third and fourth register check tasks, as described at the top
\r
530 xTaskCreateStatic( prvRegTest3Task, "Reg3", configMINIMAL_STACK_SIZE, configREG_TEST_TASK_3_PARAMETER, tskIDLE_PRIORITY, xRegTest3Stack, &xRegTest3Buffer );
\r
531 xTaskCreateStatic( prvRegTest4Task, "Reg4", configMINIMAL_STACK_SIZE, configREG_TEST_TASK_4_PARAMETER, tskIDLE_PRIORITY, xRegTest4Stack, &xRegTest4Buffer );
\r
533 /* Create and start the software timer. */
\r
534 xTimer = xTimerCreateStatic( "Timer", /* Test name for the timer. */
\r
535 mainTIMER_PERIOD, /* Period of the timer. */
\r
536 pdTRUE, /* The timer will auto-reload itself. */
\r
537 ( void * ) 0, /* The timer's ID is used to count the number of times it expires - initialise this to 0. */
\r
538 prvTimerCallback, /* The function called when the timer expires. */
\r
539 &xTimerBuffer ); /* The variable in which the created timer's data structure will be stored. */
\r
540 configASSERT( xTimer );
\r
541 xTimerStart( xTimer, mainDONT_BLOCK );
\r
543 /* Start the scheduler. */
\r
544 vTaskStartScheduler();
\r
546 /* Will only get here if there was insufficient memory to create the idle
\r
550 /*-----------------------------------------------------------*/
\r
552 static void prvCheckTask( void *pvParameters )
\r
554 /* This task is created in privileged mode so can access the file scope
\r
555 queue variable. Take a stack copy of this before the task is set into user
\r
556 mode. Once that task is in user mode the file scope queue variable will no
\r
557 longer be accessible but the stack copy will. */
\r
558 QueueHandle_t xQueue = xGlobalScopeCheckQueue;
\r
560 uint32_t ulStillAliveCounts[ 3 ] = { 0 };
\r
561 const char *pcStatusMessage = "PASS\r\n";
\r
562 uint32_t ulLastRegTest3CountValue = 0, ulLastRegTest4Value = 0;
\r
564 /* The register test tasks that also test the floating point registers increment
\r
565 a counter on each iteration of their loop. The counters are inside the array
\r
566 that this task has access to. */
\r
567 volatile uint32_t *pulOverlaidCounter3 = ( uint32_t * ) &( cReadWriteArray[ 0 ] ), *pulOverlaidCounter4 = ( uint32_t * ) &( cReadWriteArray[ 4 ] );
\r
569 /* ulCycleCount is incremented on each cycle of the check task. It can be
\r
570 viewed updating in the Keil watch window as the simulator does not print to
\r
572 volatile uint32_t ulCycleCount = 0;
\r
574 /* Just to remove compiler warning. */
\r
575 ( void ) pvParameters;
\r
577 /* Demonstrate how the various memory regions can and can't be accessed.
\r
578 The task privilege level is set down to user mode within this function. */
\r
579 prvTestMemoryRegions();
\r
581 /* Clear overlaid reg test counters before entering the loop below. */
\r
582 *pulOverlaidCounter3 = 0UL;
\r
583 *pulOverlaidCounter4 = 0UL;
\r
585 /* This loop performs the main function of the task, which is blocking
\r
586 on a message queue then processing each message as it arrives. */
\r
589 /* Wait for the next message to arrive. */
\r
590 xQueueReceive( xQueue, &lMessage, portMAX_DELAY );
\r
594 case configREG_TEST_1_STILL_EXECUTING :
\r
595 case configREG_TEST_2_STILL_EXECUTING :
\r
596 case configTIMER_STILL_EXECUTING :
\r
597 /* Message from the first or second register check task, or
\r
598 the timer callback function. Increment the count of the
\r
599 number of times the message source has sent the message as
\r
600 the message source must still be executed. */
\r
601 ( ulStillAliveCounts[ lMessage ] )++;
\r
604 case configPRINT_SYSTEM_STATUS :
\r
605 /* Message from tick hook, time to print out the system
\r
606 status. If messages have stopped arriving from either of
\r
607 the first two reg test task or the timer callback then the
\r
608 status must be set to fail. */
\r
609 if( ( ulStillAliveCounts[ 0 ] == 0 ) || ( ulStillAliveCounts[ 1 ] == 0 ) || ( ulStillAliveCounts[ 2 ] == 0 ) )
\r
611 /* One or both of the test tasks are no longer sending
\r
612 'still alive' messages. */
\r
613 pcStatusMessage = "FAIL\r\n";
\r
617 /* Reset the count of 'still alive' messages. */
\r
618 memset( ( void * ) ulStillAliveCounts, 0x00, sizeof( ulStillAliveCounts ) );
\r
621 /* Check that the register test 3 task is still incrementing
\r
622 its counter, and therefore still running. */
\r
623 if( ulLastRegTest3CountValue == *pulOverlaidCounter3 )
\r
625 pcStatusMessage = "FAIL\r\n";
\r
627 ulLastRegTest3CountValue = *pulOverlaidCounter3;
\r
629 /* Check that the register test 4 task is still incrementing
\r
630 its counter, and therefore still running. */
\r
631 if( ulLastRegTest4Value == *pulOverlaidCounter4 )
\r
633 pcStatusMessage = "FAIL\r\n";
\r
635 ulLastRegTest4Value = *pulOverlaidCounter4;
\r
637 /**** Print pcStatusMessage here. ****/
\r
638 ( void ) pcStatusMessage;
\r
640 /* The cycle count can be viewed updating in the Keil watch
\r
641 window if ITM printf is not being used. */
\r
646 /* Something unexpected happened. Delete this task so the
\r
647 error is apparent (no output will be displayed). */
\r
653 /*-----------------------------------------------------------*/
\r
655 static void prvTestMemoryRegions( void )
\r
660 /* The check task (from which this function is called) is created in the
\r
661 Privileged mode. The privileged array can be both read from and written
\r
662 to while this task is privileged. */
\r
663 cPrivilegedOnlyAccessArray[ 0 ] = 'a';
\r
664 if( cPrivilegedOnlyAccessArray[ 0 ] != 'a' )
\r
666 /* Something unexpected happened. Delete this task so the error is
\r
667 apparent (no output will be displayed). */
\r
671 /* Writing off the end of the RAM allocated to this task will *NOT* cause a
\r
672 protection fault because the task is still executing in a privileged mode.
\r
673 Uncomment the following to test. */
\r
674 /*cPrivilegedOnlyAccessArray[ mainPRIVILEGED_ONLY_ACCESS_ALIGN_SIZE ] = 'a';*/
\r
676 /* Now set the task into user mode. */
\r
677 portSWITCH_TO_USER_MODE();
\r
679 /* Accessing the privileged only array will now cause a fault. Uncomment
\r
680 the following line to test. */
\r
681 /*cPrivilegedOnlyAccessArray[ 0 ] = 'a';*/
\r
683 /* The read/write array can still be successfully read and written. */
\r
684 for( x = 0; x < mainREAD_WRITE_ALIGN_SIZE; x++ )
\r
686 cReadWriteArray[ x ] = 'a';
\r
687 if( cReadWriteArray[ x ] != 'a' )
\r
689 /* Something unexpected happened. Delete this task so the error is
\r
690 apparent (no output will be displayed). */
\r
695 /* But attempting to read or write off the end of the RAM allocated to this
\r
696 task will cause a fault. Uncomment either of the following two lines to
\r
698 /* cReadWriteArray[ 0 ] = cReadWriteArray[ -1 ]; */
\r
699 /* cReadWriteArray[ mainREAD_WRITE_ALIGN_SIZE ] = 0x00; */
\r
701 /* The read only array can be successfully read... */
\r
702 for( x = 0; x < mainREAD_ONLY_ALIGN_SIZE; x++ )
\r
704 cTemp = cReadOnlyArray[ x ];
\r
707 /* ...but cannot be written. Uncomment the following line to test. */
\r
708 /* cReadOnlyArray[ 0 ] = 'a'; */
\r
710 /* Writing to the first and last locations in the stack array should not
\r
711 cause a protection fault. Note that doing this will cause the kernel to
\r
712 detect a stack overflow if configCHECK_FOR_STACK_OVERFLOW is greater than
\r
713 1, hence the test is commented out by default. */
\r
714 /* xCheckTaskStack[ 0 ] = 0;
\r
715 xCheckTaskStack[ mainCHECK_TASK_STACK_SIZE_WORDS - 1 ] = 0; */
\r
717 /* Writing off either end of the stack array should cause a protection
\r
718 fault, uncomment either of the following two lines to test. */
\r
719 /* xCheckTaskStack[ -1 ] = 0; */
\r
720 /* xCheckTaskStack[ mainCHECK_TASK_STACK_SIZE_WORDS ] = 0; */
\r
724 /*-----------------------------------------------------------*/
\r
726 static void prvExerciseEventGroupAPI( void )
\r
728 EventGroupHandle_t xEventGroup;
\r
729 StaticEventGroup_t xEventGroupBuffer;
\r
731 const EventBits_t xBitsToWaitFor = ( EventBits_t ) 0xff, xBitToClear = ( EventBits_t ) 0x01;
\r
733 /* Exercise some event group functions. */
\r
734 xEventGroup = xEventGroupCreateStatic( &xEventGroupBuffer );
\r
735 configASSERT( xEventGroup );
\r
737 /* No bits should be set. */
\r
738 xBits = xEventGroupWaitBits( xEventGroup, xBitsToWaitFor, pdTRUE, pdFALSE, mainDONT_BLOCK );
\r
739 configASSERT( xBits == ( EventBits_t ) 0 );
\r
741 /* Set bits and read back to ensure the bits were set. */
\r
742 xEventGroupSetBits( xEventGroup, xBitsToWaitFor );
\r
743 xBits = xEventGroupGetBits( xEventGroup );
\r
744 configASSERT( xBits == xBitsToWaitFor );
\r
746 /* Clear a bit and read back again using a different API function. */
\r
747 xEventGroupClearBits( xEventGroup, xBitToClear );
\r
748 xBits = xEventGroupSync( xEventGroup, 0x00, xBitsToWaitFor, mainDONT_BLOCK );
\r
749 configASSERT( xBits == ( xBitsToWaitFor & ~xBitToClear ) );
\r
751 /* Finished with the event group. */
\r
752 vEventGroupDelete( xEventGroup );
\r
754 /*-----------------------------------------------------------*/
\r
756 static void prvExerciseSemaphoreAPI( void )
\r
758 SemaphoreHandle_t xSemaphore;
\r
759 StaticSemaphore_t xSemaphoreBuffer;
\r
760 const UBaseType_t uxMaxCount = 5, uxInitialCount = 0;
\r
762 /* Most of the semaphore API is common to the queue API and is already being
\r
763 used. This function uses a few semaphore functions that are unique to the
\r
764 RTOS objects, rather than generic and used by queues also.
\r
766 First create and use a counting semaphore. */
\r
767 xSemaphore = xSemaphoreCreateCountingStatic( uxMaxCount, uxInitialCount, &xSemaphoreBuffer );
\r
768 configASSERT( xSemaphore );
\r
770 /* Give the semaphore a couple of times and ensure the count is returned
\r
772 xSemaphoreGive( xSemaphore );
\r
773 xSemaphoreGive( xSemaphore );
\r
774 configASSERT( uxSemaphoreGetCount( xSemaphore ) == 2 );
\r
775 vSemaphoreDelete( xSemaphore );
\r
777 /* Create a recursive mutex, and ensure the mutex holder and count are
\r
778 returned returned correctly. */
\r
779 xSemaphore = xSemaphoreCreateRecursiveMutexStatic( &xSemaphoreBuffer );
\r
780 configASSERT( uxSemaphoreGetCount( xSemaphore ) == 1 );
\r
781 configASSERT( xSemaphore );
\r
782 xSemaphoreTakeRecursive( xSemaphore, mainDONT_BLOCK );
\r
783 xSemaphoreTakeRecursive( xSemaphore, mainDONT_BLOCK );
\r
784 configASSERT( xSemaphoreGetMutexHolder( xSemaphore ) == xTaskGetCurrentTaskHandle() );
\r
785 configASSERT( xSemaphoreGetMutexHolder( xSemaphore ) == xTaskGetHandle( mainTASK_TO_DELETE_NAME ) );
\r
786 xSemaphoreGiveRecursive( xSemaphore );
\r
787 configASSERT( uxSemaphoreGetCount( xSemaphore ) == 0 );
\r
788 xSemaphoreGiveRecursive( xSemaphore );
\r
789 configASSERT( uxSemaphoreGetCount( xSemaphore ) == 1 );
\r
790 configASSERT( xSemaphoreGetMutexHolder( xSemaphore ) == NULL );
\r
791 vSemaphoreDelete( xSemaphore );
\r
793 /* Create a normal mutex, and sure the mutex holder and count are returned
\r
794 returned correctly. */
\r
795 xSemaphore = xSemaphoreCreateMutexStatic( &xSemaphoreBuffer );
\r
796 configASSERT( xSemaphore );
\r
797 xSemaphoreTake( xSemaphore, mainDONT_BLOCK );
\r
798 xSemaphoreTake( xSemaphore, mainDONT_BLOCK );
\r
799 configASSERT( uxSemaphoreGetCount( xSemaphore ) == 0 ); /* Not recursive so can only be 1. */
\r
800 configASSERT( xSemaphoreGetMutexHolder( xSemaphore ) == xTaskGetCurrentTaskHandle() );
\r
801 xSemaphoreGive( xSemaphore );
\r
802 configASSERT( uxSemaphoreGetCount( xSemaphore ) == 1 );
\r
803 configASSERT( xSemaphoreGetMutexHolder( xSemaphore ) == NULL );
\r
804 vSemaphoreDelete( xSemaphore );
\r
806 /*-----------------------------------------------------------*/
\r
808 static void prvExerciseTaskNotificationAPI( void )
\r
810 uint32_t ulNotificationValue;
\r
811 BaseType_t xReturned;
\r
813 /* The task should not yet have a notification pending. */
\r
814 xReturned = xTaskNotifyWait( 0, 0, &ulNotificationValue, mainDONT_BLOCK );
\r
815 configASSERT( xReturned == pdFAIL );
\r
816 configASSERT( ulNotificationValue == 0UL );
\r
818 /* Exercise the 'give' and 'take' versions of the notification API. */
\r
819 xTaskNotifyGive( xTaskGetCurrentTaskHandle() );
\r
820 xTaskNotifyGive( xTaskGetCurrentTaskHandle() );
\r
821 ulNotificationValue = ulTaskNotifyTake( pdTRUE, mainDONT_BLOCK );
\r
822 configASSERT( ulNotificationValue == 2 );
\r
824 /* Exercise the 'notify' and 'clear' API. */
\r
825 ulNotificationValue = 20;
\r
826 xTaskNotify( xTaskGetCurrentTaskHandle(), ulNotificationValue, eSetValueWithOverwrite );
\r
827 ulNotificationValue = 0;
\r
828 xReturned = xTaskNotifyWait( 0, 0, &ulNotificationValue, mainDONT_BLOCK );
\r
829 configASSERT( xReturned == pdPASS );
\r
830 configASSERT( ulNotificationValue == 20 );
\r
831 xTaskNotify( xTaskGetCurrentTaskHandle(), ulNotificationValue, eSetValueWithOverwrite );
\r
832 xReturned = xTaskNotifyStateClear( NULL );
\r
833 configASSERT( xReturned == pdTRUE ); /* First time a notification was pending. */
\r
834 xReturned = xTaskNotifyStateClear( NULL );
\r
835 configASSERT( xReturned == pdFALSE ); /* Second time the notification was already clear. */
\r
837 /*-----------------------------------------------------------*/
\r
839 static void prvTaskToDelete( void *pvParameters )
\r
841 /* Remove compiler warnings about unused parameters. */
\r
842 ( void ) pvParameters;
\r
844 /* Check the enter and exit critical macros are working correctly. If the
\r
845 SVC priority is below configMAX_SYSCALL_INTERRUPT_PRIORITY then this will
\r
847 taskENTER_CRITICAL();
\r
848 taskEXIT_CRITICAL();
\r
850 /* Exercise the API of various RTOS objects. */
\r
851 prvExerciseEventGroupAPI();
\r
852 prvExerciseSemaphoreAPI();
\r
853 prvExerciseTaskNotificationAPI();
\r
855 /* For code coverage test purposes it is deleted by the Idle task. */
\r
856 configASSERT( uxTaskGetStackHighWaterMark( NULL ) > 0 );
\r
857 vTaskSuspend( NULL );
\r
859 /*-----------------------------------------------------------*/
\r
861 void vApplicationIdleHook( void )
\r
863 volatile const uint32_t *pul;
\r
864 volatile uint32_t ulReadData;
\r
866 /* The idle task, and therefore this function, run in Supervisor mode and
\r
867 can therefore access all memory. Try reading from corners of flash and
\r
868 RAM to ensure a memory fault does not occur.
\r
870 Start with the edges of the privileged data area. */
\r
871 pul = __privileged_data_start__;
\r
873 pul = __privileged_data_end__ - 1;
\r
876 /* Next the standard SRAM area. */
\r
877 pul = __SRAM_segment_end__ - 1;
\r
880 /* And the standard Flash area - the start of which is marked for
\r
881 privileged access only. */
\r
882 pul = __FLASH_segment_start__;
\r
884 pul = __FLASH_segment_end__ - 1;
\r
887 /* Reading off the end of Flash or SRAM space should cause a fault.
\r
888 Uncomment one of the following two pairs of lines to test. */
\r
890 /* pul = __FLASH_segment_end__ + 4;
\r
891 ulReadData = *pul; */
\r
893 /* pul = __SRAM_segment_end__ + 1;
\r
894 ulReadData = *pul; */
\r
896 /* One task is created purely so it can be deleted - done for code coverage
\r
898 if( xTaskToDelete != NULL )
\r
900 vTaskDelete( xTaskToDelete );
\r
901 xTaskToDelete = NULL;
\r
904 ( void ) ulReadData;
\r
906 /*-----------------------------------------------------------*/
\r
908 static void prvOldStyleUserModeTask( void *pvParameters )
\r
910 /*const volatile uint32_t *pulStandardPeripheralRegister = ( volatile uint32_t * ) 0x40000000;*/
\r
911 volatile const uint32_t *pul;
\r
912 volatile uint32_t ulReadData;
\r
914 /* The following lines are commented out to prevent the unused variable
\r
915 compiler warnings when the tests that use the variable are also commented out. */
\r
916 /* extern uint32_t __privileged_functions_start__[]; */
\r
917 /* const volatile uint32_t *pulSystemPeripheralRegister = ( volatile uint32_t * ) 0xe000e014; */
\r
919 ( void ) pvParameters;
\r
921 /* This task is created in User mode using the original xTaskCreate() API
\r
922 function. It should have access to all Flash and RAM except that marked
\r
923 as Privileged access only. Reading from the start and end of the non-
\r
924 privileged RAM should not cause a problem (the privileged RAM is the first
\r
925 block at the bottom of the RAM memory). */
\r
926 pul = __privileged_data_end__ + 1;
\r
928 pul = __SRAM_segment_end__ - 1;
\r
931 /* Likewise reading from the start and end of the non-privileged Flash
\r
932 should not be a problem (the privileged Flash is the first block at the
\r
933 bottom of the Flash memory). */
\r
934 pul = __privileged_functions_end__ + 1;
\r
936 pul = __FLASH_segment_end__ - 1;
\r
939 /* Standard peripherals are accessible. */
\r
940 /*ulReadData = *pulStandardPeripheralRegister;*/
\r
942 /* System peripherals are not accessible. Uncomment the following line
\r
943 to test. Also uncomment the declaration of pulSystemPeripheralRegister
\r
944 at the top of this function.
\r
945 ulReadData = *pulSystemPeripheralRegister; */
\r
947 /* Reading from anywhere inside the privileged Flash or RAM should cause a
\r
948 fault. This can be tested by uncommenting any of the following pairs of
\r
949 lines. Also uncomment the declaration of __privileged_functions_start__
\r
950 at the top of this function. */
\r
952 /*pul = __privileged_functions_start__;
\r
953 ulReadData = *pul;*/
\r
955 /*pul = __privileged_functions_end__ - 1;
\r
956 ulReadData = *pul;*/
\r
958 /*pul = __privileged_data_start__;
\r
959 ulReadData = *pul;*/
\r
961 /*pul = __privileged_data_end__ - 1;
\r
962 ulReadData = *pul;*/
\r
964 /* Must not just run off the end of a task function, so delete this task.
\r
965 Note that because this task was created using xTaskCreate() the stack was
\r
966 allocated dynamically and I have not included any code to free it again. */
\r
967 vTaskDelete( NULL );
\r
969 ( void ) ulReadData;
\r
971 /*-----------------------------------------------------------*/
\r
973 static void prvOldStylePrivilegedModeTask( void *pvParameters )
\r
975 volatile const uint32_t *pul;
\r
976 volatile uint32_t ulReadData;
\r
977 const volatile uint32_t *pulSystemPeripheralRegister = ( volatile uint32_t * ) 0xe000e014; /* Systick */
\r
978 /*const volatile uint32_t *pulStandardPeripheralRegister = ( volatile uint32_t * ) 0x40000000;*/
\r
980 ( void ) pvParameters;
\r
982 /* This task is created in Privileged mode using the original xTaskCreate()
\r
983 API function. It should have access to all Flash and RAM including that
\r
984 marked as Privileged access only. So reading from the start and end of the
\r
985 non-privileged RAM should not cause a problem (the privileged RAM is the
\r
986 first block at the bottom of the RAM memory). */
\r
987 pul = __privileged_data_end__ + 1;
\r
989 pul = __SRAM_segment_end__ - 1;
\r
992 /* Likewise reading from the start and end of the non-privileged Flash
\r
993 should not be a problem (the privileged Flash is the first block at the
\r
994 bottom of the Flash memory). */
\r
995 pul = __privileged_functions_end__ + 1;
\r
997 pul = __FLASH_segment_end__ - 1;
\r
1000 /* Reading from anywhere inside the privileged Flash or RAM should also
\r
1001 not be a problem. */
\r
1002 pul = __privileged_functions_start__;
\r
1003 ulReadData = *pul;
\r
1004 pul = __privileged_functions_end__ - 1;
\r
1005 ulReadData = *pul;
\r
1006 pul = __privileged_data_start__;
\r
1007 ulReadData = *pul;
\r
1008 pul = __privileged_data_end__ - 1;
\r
1009 ulReadData = *pul;
\r
1011 /* Finally, accessing both System and normal peripherals should both be
\r
1013 ulReadData = *pulSystemPeripheralRegister;
\r
1014 /*ulReadData = *pulStandardPeripheralRegister;*/
\r
1016 /* Must not just run off the end of a task function, so delete this task.
\r
1017 Note that because this task was created using xTaskCreate() the stack was
\r
1018 allocated dynamically and I have not included any code to free it again. */
\r
1019 vTaskDelete( NULL );
\r
1021 ( void ) ulReadData;
\r
1023 /*-----------------------------------------------------------*/
\r
1025 void vMainDeleteMe( void )
\r
1027 vTaskDelete( NULL );
\r
1029 /*-----------------------------------------------------------*/
\r
1031 void vMainSendImAlive( QueueHandle_t xHandle, uint32_t ulTaskNumber )
\r
1033 if( xHandle != NULL )
\r
1035 xQueueSend( xHandle, &ulTaskNumber, mainDONT_BLOCK );
\r
1038 /*-----------------------------------------------------------*/
\r
1040 static void prvSetupHardware( void )
\r
1043 /*-----------------------------------------------------------*/
\r
1045 void vApplicationTickHook( void )
\r
1047 static uint32_t ulCallCount = 0;
\r
1048 const uint32_t ulCallsBetweenSends = pdMS_TO_TICKS( 1000 );
\r
1049 const uint32_t ulMessage = configPRINT_SYSTEM_STATUS;
\r
1050 portBASE_TYPE xDummy;
\r
1052 /* If configUSE_TICK_HOOK is set to 1 then this function will get called
\r
1053 from each RTOS tick. It is called from the tick interrupt and therefore
\r
1054 will be executing in the privileged state. */
\r
1058 /* Is it time to print out the pass/fail message again? */
\r
1059 if( ulCallCount >= ulCallsBetweenSends )
\r
1063 /* Send a message to the check task to command it to check that all
\r
1064 the tasks are still running then print out the status.
\r
1066 This is running in an ISR so has to use the "FromISR" version of
\r
1067 xQueueSend(). Because it is in an ISR it is running with privileges
\r
1068 so can access xGlobalScopeCheckQueue directly. */
\r
1069 xQueueSendFromISR( xGlobalScopeCheckQueue, &ulMessage, &xDummy );
\r
1072 /*-----------------------------------------------------------*/
\r
1074 void vApplicationStackOverflowHook( TaskHandle_t pxTask, char *pcTaskName )
\r
1076 /* If configCHECK_FOR_STACK_OVERFLOW is set to either 1 or 2 then this
\r
1077 function will automatically get called if a task overflows its stack. */
\r
1079 ( void ) pcTaskName;
\r
1082 /*-----------------------------------------------------------*/
\r
1084 void vApplicationMallocFailedHook( void )
\r
1086 /* If configUSE_MALLOC_FAILED_HOOK is set to 1 then this function will
\r
1087 be called automatically if a call to pvPortMalloc() fails. pvPortMalloc()
\r
1088 is called automatically when a task, queue or semaphore is created. */
\r
1091 /*-----------------------------------------------------------*/
\r
1093 static void prvTimerCallback( TaskHandle_t xExpiredTimer )
\r
1097 /* The count of the number of times this timer has expired is saved in the
\r
1098 timer's ID. Obtain the current count. */
\r
1099 ulCount = ( uint32_t ) pvTimerGetTimerID( xTimer );
\r
1101 /* Increment the count, and save it back into the timer's ID. */
\r
1103 vTimerSetTimerID( xTimer, ( void * ) ulCount );
\r
1105 /* Let the check task know the timer is still running. */
\r
1106 vMainSendImAlive( xGlobalScopeCheckQueue, configTIMER_STILL_EXECUTING );
\r
1108 /*-----------------------------------------------------------*/
\r
1110 /* configUSE_STATIC_ALLOCATION is set to 1, so the application must provide an
\r
1111 implementation of vApplicationGetIdleTaskMemory() to provide the memory that is
\r
1112 used by the Idle task. */
\r
1113 void vApplicationGetIdleTaskMemory( StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize )
\r
1115 /* If the buffers to be provided to the Idle task are declared inside this
\r
1116 function then they must be declared static - otherwise they will be allocated on
\r
1117 the stack and so not exists after this function exits. */
\r
1118 static StaticTask_t xIdleTaskTCB;
\r
1119 static StackType_t uxIdleTaskStack[ configMINIMAL_STACK_SIZE ];
\r
1121 /* Pass out a pointer to the StaticTask_t structure in which the Idle task's
\r
1122 state will be stored. */
\r
1123 *ppxIdleTaskTCBBuffer = &xIdleTaskTCB;
\r
1125 /* Pass out the array that will be used as the Idle task's stack. */
\r
1126 *ppxIdleTaskStackBuffer = uxIdleTaskStack;
\r
1128 /* Pass out the size of the array pointed to by *ppxIdleTaskStackBuffer.
\r
1129 Note that, as the array is necessarily of type StackType_t,
\r
1130 configMINIMAL_STACK_SIZE is specified in words, not bytes. */
\r
1131 *pulIdleTaskStackSize = configMINIMAL_STACK_SIZE;
\r
1133 /*-----------------------------------------------------------*/
\r
1135 /* configUSE_STATIC_ALLOCATION and configUSE_TIMERS are both set to 1, so the
\r
1136 application must provide an implementation of vApplicationGetTimerTaskMemory()
\r
1137 to provide the memory that is used by the Timer service task. */
\r
1138 void vApplicationGetTimerTaskMemory( StaticTask_t **ppxTimerTaskTCBBuffer, StackType_t **ppxTimerTaskStackBuffer, uint32_t *pulTimerTaskStackSize )
\r
1140 /* If the buffers to be provided to the Timer task are declared inside this
\r
1141 function then they must be declared static - otherwise they will be allocated on
\r
1142 the stack and so not exists after this function exits. */
\r
1143 static StaticTask_t xTimerTaskTCB;
\r
1144 static StackType_t uxTimerTaskStack[ configTIMER_TASK_STACK_DEPTH ];
\r
1146 /* Pass out a pointer to the StaticTask_t structure in which the Timer
\r
1147 task's state will be stored. */
\r
1148 *ppxTimerTaskTCBBuffer = &xTimerTaskTCB;
\r
1150 /* Pass out the array that will be used as the Timer task's stack. */
\r
1151 *ppxTimerTaskStackBuffer = uxTimerTaskStack;
\r
1153 /* Pass out the size of the array pointed to by *ppxTimerTaskStackBuffer.
\r
1154 Note that, as the array is necessarily of type StackType_t,
\r
1155 configMINIMAL_STACK_SIZE is specified in words, not bytes. */
\r
1156 *pulTimerTaskStackSize = configTIMER_TASK_STACK_DEPTH;
\r
1158 /*-----------------------------------------------------------*/
\r
1160 static void prvRegTest3Task( void *pvParameters )
\r
1162 /* Although the regtest task is written in assembler, its entry point is
\r
1163 written in C for convenience of checking the task parameter is being passed
\r
1165 if( pvParameters == configREG_TEST_TASK_3_PARAMETER )
\r
1167 /* Start the part of the test that is written in assembler. */
\r
1168 vRegTest3Implementation();
\r
1171 /* The following line will only execute if the task parameter is found to
\r
1172 be incorrect. The check task will detect that the regtest loop counter is
\r
1173 not being incremented and flag an error. */
\r
1174 vTaskDelete( NULL );
\r
1176 /*-----------------------------------------------------------*/
\r
1178 static void prvRegTest4Task( void *pvParameters )
\r
1180 /* Although the regtest task is written in assembler, its entry point is
\r
1181 written in C for convenience of checking the task parameter is being passed
\r
1183 if( pvParameters == configREG_TEST_TASK_4_PARAMETER )
\r
1185 /* Start the part of the test that is written in assembler. */
\r
1186 vRegTest4Implementation();
\r
1189 /* The following line will only execute if the task parameter is found to
\r
1190 be incorrect. The check task will detect that the regtest loop counter is
\r
1191 not being incremented and flag an error. */
\r
1192 vTaskDelete( NULL );
\r
1194 /*-----------------------------------------------------------*/
\r
projects / freertos / blob