2 * FreeRTOS Kernel V10.2.0
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3 * Copyright (C) 2019 Amazon.com, Inc. or its affiliates. All Rights Reserved.
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5 * Permission is hereby granted, free of charge, to any person obtaining a copy of
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6 * this software and associated documentation files (the "Software"), to deal in
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7 * the Software without restriction, including without limitation the rights to
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8 * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
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9 * the Software, and to permit persons to whom the Software is furnished to do so,
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10 * subject to the following conditions:
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12 * The above copyright notice and this permission notice shall be included in all
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13 * copies or substantial portions of the Software.
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15 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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16 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
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17 * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
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18 * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
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19 * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
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20 * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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22 * http://www.FreeRTOS.org
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23 * http://aws.amazon.com/freertos
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25 * 1 tab == 4 spaces!
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30 * This file demonstrates the use of FreeRTOS-MPU in a completely statically
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31 * allocated application (with configSUPPORT_DYNAMIC_ALLOCATION set to 0). It
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32 * creates tasks in both User mode and Privileged mode, and using both the
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33 * xTaskCreateStatic() and xTaskCreateRestrictedStatic() API functions. The
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34 * purpose of each created task is documented in the comments above the task
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35 * function prototype (in this file), with the task behaviour demonstrated and
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36 * documented within the task function itself.
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38 * In addition a queue is used to demonstrate passing data between
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39 * protected/restricted tasks as well as passing data between an interrupt and
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40 * a protected/restricted task. A software timer is also used.
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43 /* Standard includes. */
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46 /* Scheduler includes. */
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47 #include "FreeRTOS.h"
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52 #include "event_groups.h"
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54 /*-----------------------------------------------------------*/
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56 /* Misc constants. */
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57 #define mainDONT_BLOCK ( 0 )
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59 /* GCC specifics. */
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60 #define mainALIGN_TO( x ) __attribute__((aligned(x)))
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62 /* Hardware register addresses. */
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63 #define mainVTOR ( * ( volatile uint32_t * ) 0xE000ED08 )
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65 /* The period of the timer must be less than the rate at which
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66 configPRINT_SYSTEM_STATUS messages are sent to the check task - otherwise the
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67 check task will think the timer has stopped. */
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68 #define mainTIMER_PERIOD pdMS_TO_TICKS( 200 )
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70 /* The name of the task that is deleted by the Idle task is used in a couple of
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71 places, so is #defined. */
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72 #define mainTASK_TO_DELETE_NAME "DeleteMe"
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74 /*-----------------------------------------------------------*/
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75 /* Prototypes for functions that implement tasks. -----------*/
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76 /*-----------------------------------------------------------*/
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79 * NOTE: The filling and checking of the registers in the following two tasks
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80 * is only actually performed when the GCC compiler is used. Use of the
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81 * queue to communicate with the check task is done with all compilers.
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83 * Prototype for the first two register test tasks, which execute in User mode.
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84 * Amongst other things, these fill the CPU registers (other than the FPU
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85 * registers) with known values before checking that the registers still contain
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86 * the expected values. Each of the two tasks use different values so an error
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87 * in the context switch mechanism can be caught. Both tasks execute at the
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88 * idle priority so will get preempted regularly. Each task repeatedly sends a
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89 * message on a queue to a 'check' task so the check task knows the register
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90 * check task is still executing and has not detected any errors. If an error
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91 * is detected within the task the task is simply deleted so it no longer sends
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94 * For demonstration and test purposes, both tasks obtain access to the queue
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95 * handle in different ways; vRegTest1Implementation() is created in Privileged
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96 * mode and copies the queue handle to its local stack before setting itself to
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97 * User mode, and vRegTest2Implementation() receives the task handle using its
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100 extern void vRegTest1Implementation( void *pvParameters );
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101 extern void vRegTest2Implementation( void *pvParameters );
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104 * The second two register test tasks are similar to the first two, but do test
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105 * the floating point registers, execute in Privileged mode, and signal their
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106 * execution status to the 'check' task by incrementing a loop counter on each
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107 * iteration instead of sending a message on a queue. The loop counters use a
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108 * memory region to which the User mode 'check' task has read access.
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110 * The functions ending 'Implementation' are called by the register check tasks.
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112 * The tasks are created with xTaskCreateStatic(), so the stack and variables
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113 * used to hold the task's data structures also have to be provided.
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115 static StackType_t xRegTest3Stack[ configMINIMAL_STACK_SIZE ], xRegTest4Stack[ configMINIMAL_STACK_SIZE ];
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116 static StaticTask_t xRegTest3Buffer, xRegTest4Buffer;
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117 static void prvRegTest3Task( void *pvParameters );
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118 extern void vRegTest3Implementation( void );
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119 static void prvRegTest4Task( void *pvParameters );
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120 extern void vRegTest4Implementation( void );
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123 * Prototype for the check task. The check task demonstrates various features
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124 * of the MPU before entering a loop where it waits for messages to arrive on a
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127 * Two types of messages can be processes:
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129 * 1) "I'm Alive" messages sent from the first two register test tasks and a
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130 * software timer callback, as described above.
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132 * 2) "Print Status commands" sent periodically by the tick hook function (and
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133 * therefore from within an interrupt) which commands the check task to write
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134 * either pass or fail to the terminal, depending on the status of the reg
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135 * test tasks (no write is performed in the simulator!).
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137 static void prvCheckTask( void *pvParameters );
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140 * Prototype for a task created in User mode using vTaskCreateStatic() API
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141 * function. The task demonstrates the characteristics of such a task,
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142 * before simply deleting itself. As the task is created without using any
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143 * dynamic memory allocate the stack and variable in which the task's data
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144 * structure will be stored must also be provided - however the task is
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145 * unprivileged so the stack cannot be in a privileged section.
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147 static StackType_t xUserModeTaskStack[ configMINIMAL_STACK_SIZE ];
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148 static PRIVILEGED_DATA StaticTask_t xUserModeTaskBuffer;
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149 static void prvOldStyleUserModeTask( void *pvParameters );
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152 * Prototype for a task created in Privileged mode using the
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153 * xTaskCreateStatic() API function. The task demonstrates the characteristics
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154 * of such a task, before simply deleting itself. As no dynamic memory
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155 * allocation is used the stack and variable used to hold the task's data
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156 * structure must also be provided. The task is privileged, so the stack can
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157 * be in a privileged section.
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159 static PRIVILEGED_DATA StackType_t xPrivilegedModeTaskStack[ configMINIMAL_STACK_SIZE ];
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160 static PRIVILEGED_DATA StaticTask_t xPrivilegedModeTaskBuffer;
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161 static void prvOldStylePrivilegedModeTask( void *pvParameters );
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164 * A task that exercises the API of various RTOS objects before being deleted by
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165 * the Idle task. This is done for MPU API code coverage test purposes.
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167 static void prvTaskToDelete( void *pvParameters );
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170 * Functions called by prvTaskToDelete() to exercise the MPU API.
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172 static void prvExerciseEventGroupAPI( void );
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173 static void prvExerciseSemaphoreAPI( void );
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174 static void prvExerciseTaskNotificationAPI( void );
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177 * Just configures any clocks and IO necessary.
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179 static void prvSetupHardware( void );
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182 * Simply deletes the calling task. The function is provided only because it
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183 * is simpler to call from asm code than the normal vTaskDelete() API function.
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184 * It has the noinline attribute because it is called from asm code.
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186 void vMainDeleteMe( void ) __attribute__((noinline));
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189 * Used by the first two reg test tasks and a software timer callback function
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190 * to send messages to the check task. The message just lets the check task
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191 * know that the tasks and timer are still functioning correctly. If a reg test
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192 * task detects an error it will delete itself, and in so doing prevent itself
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193 * from sending any more 'I'm Alive' messages to the check task.
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195 void vMainSendImAlive( QueueHandle_t xHandle, uint32_t ulTaskNumber );
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198 * The check task is created with access to three memory regions (plus its
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199 * stack). Each memory region is configured with different parameters and
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200 * prvTestMemoryRegions() demonstrates what can and cannot be accessed for each
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201 * region. prvTestMemoryRegions() also demonstrates a task that was created
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202 * as a privileged task settings its own privilege level down to that of a user
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205 static void prvTestMemoryRegions( void );
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208 * Callback function used with the timer that uses the queue to send messages
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209 * to the check task.
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211 static void prvTimerCallback( TimerHandle_t xExpiredTimer );
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213 /*-----------------------------------------------------------*/
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215 /* The handle of the queue used to communicate between tasks and between tasks
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216 and interrupts. Note that this is a global scope variable that falls outside of
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217 any MPU region. As such other techniques have to be used to allow the tasks
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218 to gain access to the queue. See the comments in the tasks themselves for
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219 further information. */
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220 QueueHandle_t xGlobalScopeCheckQueue = NULL;
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222 /* xGlobalScopeCheckQueue is created using xQueueCreateStatic(), so the storage
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223 area and variable used to hold the queue data structure must also be provided.
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224 These are placed in a prviliged segment. */
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225 static PRIVILEGED_DATA StaticQueue_t xGlobalScopeQueueBuffer;
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226 uint8_t PRIVILEGED_DATA ucGlobalScopeQueueStorageArea[ 1 * sizeof( uint32_t ) ];
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229 /* Holds the handle of a task that is deleted in the idle task hook - this is
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230 done for code coverage test purposes only. */
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231 static TaskHandle_t xTaskToDelete = NULL;
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233 /* The timer that periodically sends data to the check task on the queue. This
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234 is created with xTimerCreateStatic(), so the variable in which the timer's data
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235 structure will be stored must also be provided. The structure is placed in the
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236 kernel's privileged data region. */
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237 static TimerHandle_t xTimer = NULL;
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238 static PRIVILEGED_DATA StaticTimer_t xTimerBuffer;
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240 #if defined ( __GNUC__ )
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241 extern uint32_t __FLASH_segment_start__[];
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242 extern uint32_t __FLASH_segment_end__[];
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243 extern uint32_t __SRAM_segment_start__[];
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244 extern uint32_t __SRAM_segment_end__[];
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245 extern uint32_t __privileged_functions_start__[];
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246 extern uint32_t __privileged_functions_end__[];
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247 extern uint32_t __privileged_data_start__[];
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248 extern uint32_t __privileged_data_end__[];
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249 extern uint32_t __privileged_functions_actual_end__[];
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250 extern uint32_t __privileged_data_actual_end__[];
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252 const uint32_t * __FLASH_segment_start__ = ( uint32_t * ) 0x00UL;
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253 const uint32_t * __FLASH_segment_end__ = ( uint32_t * ) 0x00080000UL;
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254 const uint32_t * __SRAM_segment_start__ = ( uint32_t * ) 0x20000000UL;
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255 const uint32_t * __SRAM_segment_end__ = ( uint32_t * ) 0x20008000UL;
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256 const uint32_t * __privileged_functions_start__ = ( uint32_t * ) 0x00UL;
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257 const uint32_t * __privileged_functions_end__ = ( uint32_t * ) 0x8000UL;
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258 const uint32_t * __privileged_data_start__ = ( uint32_t * ) 0x20000000UL;
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259 const uint32_t * __privileged_data_end__ = ( uint32_t * ) 0x20000800UL;
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261 /*-----------------------------------------------------------*/
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262 /* Data used by the 'check' task. ---------------------------*/
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263 /*-----------------------------------------------------------*/
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265 /* Define the constants used to allocate the check task stack. Note that the
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266 stack size is defined in words, not bytes. */
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267 #define mainCHECK_TASK_STACK_SIZE_WORDS 128
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268 #define mainCHECK_TASK_STACK_ALIGNMENT ( mainCHECK_TASK_STACK_SIZE_WORDS * sizeof( portSTACK_TYPE ) )
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270 /* Declare the stack that will be used by the check task. The kernel will
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271 automatically create an MPU region for the stack. The stack alignment must
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272 match its size, so if 128 words are reserved for the stack then it must be
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273 aligned to ( 128 * 4 ) bytes. */
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274 static portSTACK_TYPE xCheckTaskStack[ mainCHECK_TASK_STACK_SIZE_WORDS ] mainALIGN_TO( mainCHECK_TASK_STACK_ALIGNMENT );
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276 /* Declare the variable in which the check task's data structures will be
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277 stored. PRIVILEGED_DATA is used to place this in the kernel's RAM segment. */
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278 static PRIVILEGED_DATA StaticTask_t xCheckTaskBuffer;
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280 /* Declare three arrays - an MPU region will be created for each array
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281 using the TaskParameters_t structure below. THIS IS JUST TO DEMONSTRATE THE
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282 MPU FUNCTIONALITY, the data is not used by the check tasks primary function
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283 of monitoring the reg test tasks and printing out status information.
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285 Note that the arrays allocate slightly more RAM than is actually assigned to
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286 the MPU region. This is to permit writes off the end of the array to be
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287 detected even when the arrays are placed in adjacent memory locations (with no
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288 gaps between them). The align size must be a power of two. */
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289 #define mainREAD_WRITE_ARRAY_SIZE 130
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290 #define mainREAD_WRITE_ALIGN_SIZE 128
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291 char cReadWriteArray[ mainREAD_WRITE_ARRAY_SIZE ] mainALIGN_TO( mainREAD_WRITE_ALIGN_SIZE );
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293 #define mainREAD_ONLY_ARRAY_SIZE 260
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294 #define mainREAD_ONLY_ALIGN_SIZE 256
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295 char cReadOnlyArray[ mainREAD_ONLY_ARRAY_SIZE ] mainALIGN_TO( mainREAD_ONLY_ALIGN_SIZE );
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297 #define mainPRIVILEGED_ONLY_ACCESS_ARRAY_SIZE 130
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298 #define mainPRIVILEGED_ONLY_ACCESS_ALIGN_SIZE 128
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299 char cPrivilegedOnlyAccessArray[ mainPRIVILEGED_ONLY_ACCESS_ALIGN_SIZE ] mainALIGN_TO( mainPRIVILEGED_ONLY_ACCESS_ALIGN_SIZE );
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301 /* The following two variables are used to communicate the status of the second
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302 two register check tasks (tasks 3 and 4) to the check task. If the variables
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303 keep incrementing, then the register check tasks have not discovered any errors.
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304 If a variable stops incrementing, then an error has been found. The variables
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305 overlay the array that the check task has access to so they can be read by the
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306 check task without causing a memory fault. The check task has the highest
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307 priority so will have finished with the array before the register test tasks
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308 start to access it. */
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309 volatile uint32_t *pulRegTest3LoopCounter = ( uint32_t * ) &( cReadWriteArray[ 0 ] ), *pulRegTest4LoopCounter = ( uint32_t * ) &( cReadWriteArray[ 4 ] );
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311 /* Fill in a TaskParameters_t structure to define the check task - this is the
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312 structure passed to the xTaskCreateRestricted() function. */
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313 static const TaskParameters_t xCheckTaskParameters =
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315 prvCheckTask, /* pvTaskCode - the function that implements the task. */
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316 "Check", /* pcName */
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317 mainCHECK_TASK_STACK_SIZE_WORDS, /* usStackDepth - defined in words, not bytes. */
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318 ( void * ) 0x12121212, /* pvParameters - this value is just to test that the parameter is being passed into the task correctly. */
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319 ( 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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320 xCheckTaskStack, /* puxStackBuffer - the array to use as the task stack, as declared above. */
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322 /* xRegions - In this case the xRegions array is used to create MPU regions
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323 for all three of the arrays declared directly above. Each MPU region is
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324 created with different parameters. Again, THIS IS JUST TO DEMONSTRATE THE
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325 MPU FUNCTIONALITY, the data is not used by the check tasks primary function
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326 of monitoring the reg test tasks and printing out status information.*/
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328 /* Base address Length Parameters */
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329 { cReadWriteArray, mainREAD_WRITE_ALIGN_SIZE, portMPU_REGION_READ_WRITE },
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330 { cReadOnlyArray, mainREAD_ONLY_ALIGN_SIZE, portMPU_REGION_READ_ONLY },
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331 { cPrivilegedOnlyAccessArray, mainPRIVILEGED_ONLY_ACCESS_ALIGN_SIZE, portMPU_REGION_PRIVILEGED_READ_WRITE }
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334 &xCheckTaskBuffer /* Additional structure member present when the task is being created without any dynamic memory allocation. */
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338 /*-----------------------------------------------------------*/
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339 /* Data used by the 'reg test' tasks. -----------------------*/
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340 /*-----------------------------------------------------------*/
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342 /* Define the constants used to allocate the reg test task stacks. Note that
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343 that stack size is defined in words, not bytes. */
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344 #define mainREG_TEST_STACK_SIZE_WORDS 128
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345 #define mainREG_TEST_STACK_ALIGNMENT ( mainREG_TEST_STACK_SIZE_WORDS * sizeof( portSTACK_TYPE ) )
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347 /* Declare the stacks that will be used by the reg test tasks. The kernel will
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348 automatically create an MPU region for the stack. The stack alignment must
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349 match its size, so if 128 words are reserved for the stack then it must be
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350 aligned to ( 128 * 4 ) bytes. */
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351 static portSTACK_TYPE xRegTest1Stack[ mainREG_TEST_STACK_SIZE_WORDS ] mainALIGN_TO( mainREG_TEST_STACK_ALIGNMENT );
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352 static portSTACK_TYPE xRegTest2Stack[ mainREG_TEST_STACK_SIZE_WORDS ] mainALIGN_TO( mainREG_TEST_STACK_ALIGNMENT );
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354 /* The reg test tasks are created using the xTaskCreateRestrictedStatic() API
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355 function, so variables that hold the task's data structures must also be
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356 provided. The are placed in the kernel's privileged memory section. */
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357 static PRIVILEGED_DATA StaticTask_t xRegTest1TaskBuffer, xRegTest2TaskBuffer;
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359 /* Fill in a TaskParameters_t structure per reg test task to define the tasks. */
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360 static const TaskParameters_t xRegTest1Parameters =
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362 vRegTest1Implementation, /* pvTaskCode - the function that implements the task. */
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363 "RegTest1", /* pcName */
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364 mainREG_TEST_STACK_SIZE_WORDS, /* usStackDepth */
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365 ( 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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366 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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367 xRegTest1Stack, /* puxStackBuffer - the array to use as the task stack, as declared above. */
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368 { /* xRegions - this task does not use any non-stack data hence all members are zero. */
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369 /* Base address Length Parameters */
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370 { 0x00, 0x00, 0x00 },
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371 { 0x00, 0x00, 0x00 },
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372 { 0x00, 0x00, 0x00 }
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375 &xRegTest1TaskBuffer /* Additional parameter required when the task is created with xTaskCreateRestrictedStatic(). */
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377 /*-----------------------------------------------------------*/
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379 static TaskParameters_t xRegTest2Parameters =
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381 vRegTest2Implementation, /* pvTaskCode - the function that implements the task. */
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382 "RegTest2", /* pcName */
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383 mainREG_TEST_STACK_SIZE_WORDS, /* usStackDepth */
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384 ( 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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385 tskIDLE_PRIORITY, /* uxPriority */
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386 xRegTest2Stack, /* puxStackBuffer - the array to use as the task stack, as declared above. */
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387 { /* xRegions - this task does not use any non-stack data hence all members are zero. */
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388 /* Base address Length Parameters */
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389 { 0x00, 0x00, 0x00 },
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390 { 0x00, 0x00, 0x00 },
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391 { 0x00, 0x00, 0x00 }
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394 &xRegTest2TaskBuffer /* Additional parameter required when the task is created with xTaskCreateRestrictedStatic(). */
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397 /*-----------------------------------------------------------*/
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398 /* Configures the task that is deleted. ---------------------*/
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399 /*-----------------------------------------------------------*/
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401 /* Define the constants used to allocate the stack of the task that is
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402 deleted. Note that the stack size is defined in words, not bytes. */
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403 #define mainDELETE_TASK_STACK_SIZE_WORDS 128
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404 #define mainTASK_TO_DELETE_STACK_ALIGNMENT ( mainDELETE_TASK_STACK_SIZE_WORDS * sizeof( portSTACK_TYPE ) )
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406 /* Declare the stack that will be used by the task that gets deleted. The
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407 kernel will automatically create an MPU region for the stack. The stack
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408 alignment must match its size, so if 128 words are reserved for the stack
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409 then it must be aligned to ( 128 * 4 ) bytes. */
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410 static portSTACK_TYPE xDeleteTaskStack[ mainDELETE_TASK_STACK_SIZE_WORDS ] mainALIGN_TO( mainTASK_TO_DELETE_STACK_ALIGNMENT );
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412 /* The task that gets deleted is created using xTaskCreateRestrictedStatic(),
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413 so the variable that stores the task's data structure must also be provided.
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414 This is placed in the kernel's privileged data segment. */
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415 static PRIVILEGED_DATA StaticTask_t xStaticDeleteTaskBuffer;
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417 static TaskParameters_t xTaskToDeleteParameters =
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419 prvTaskToDelete, /* pvTaskCode - the function that implements the task. */
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420 mainTASK_TO_DELETE_NAME, /* pcName */
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421 mainDELETE_TASK_STACK_SIZE_WORDS, /* usStackDepth */
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422 ( 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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423 tskIDLE_PRIORITY + 1, /* uxPriority */
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424 xDeleteTaskStack, /* puxStackBuffer - the array to use as the task stack, as declared above. */
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425 { /* xRegions - this task does not use any non-stack data hence all members are zero. */
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426 /* Base address Length Parameters */
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427 { 0x00, 0x00, 0x00 },
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428 { 0x00, 0x00, 0x00 },
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429 { 0x00, 0x00, 0x00 }
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432 &xStaticDeleteTaskBuffer /* Additional parameter required when xTaskCreateRestrictedStatic() is used. */
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435 /*-----------------------------------------------------------*/
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437 volatile uint32_t ul1 = 0x123, ul2 = 0;
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441 configASSERT( ul1 == 0x123 );
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442 configASSERT( ul2 == 0 );
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443 prvSetupHardware();
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445 /* Create the queue used to pass "I'm alive" messages to the check task. */
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446 xGlobalScopeCheckQueue = xQueueCreateStatic( 1, sizeof( uint32_t ), ucGlobalScopeQueueStorageArea, &xGlobalScopeQueueBuffer );
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448 /* One check task uses the task parameter to receive the queue handle.
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449 This allows the file scope variable to be accessed from within the task.
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450 The pvParameters member of xRegTest2Parameters can only be set after the
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451 queue has been created so is set here. */
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452 xRegTest2Parameters.pvParameters = xGlobalScopeCheckQueue;
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454 /* Create three test tasks. Handles to the created tasks are not required,
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455 hence the second parameter is NULL. */
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456 xTaskCreateRestrictedStatic( &xRegTest1Parameters, NULL );
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457 xTaskCreateRestrictedStatic( &xRegTest2Parameters, NULL );
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458 xTaskCreateRestrictedStatic( &xCheckTaskParameters, NULL );
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460 /* Create a task that does nothing but ensure some of the MPU API functions
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461 can be called correctly, then get deleted. This is done for code coverage
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462 test purposes only. The task's handle is saved in xTaskToDelete so it can
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463 get deleted in the idle task hook. */
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464 xTaskCreateRestrictedStatic( &xTaskToDeleteParameters, &xTaskToDelete );
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466 /* Create the tasks that are created using the original xTaskCreate() API
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468 xTaskCreateStatic( prvOldStyleUserModeTask, /* The function that implements the task. */
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469 "Task1", /* Text name for the task. */
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470 100, /* Stack depth in words. */
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471 NULL, /* Task parameters. */
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472 3, /* Priority and mode (user in this case). */
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473 xUserModeTaskStack, /* Used as the task's stack. */
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474 &xUserModeTaskBuffer /* Used to hold the task's data structure. */
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477 xTaskCreateStatic( prvOldStylePrivilegedModeTask, /* The function that implements the task. */
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478 "Task2", /* Text name for the task. */
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479 100, /* Stack depth in words. */
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480 NULL, /* Task parameters. */
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481 ( 3 | portPRIVILEGE_BIT ), /* Priority and mode. */
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482 xPrivilegedModeTaskStack, /* Used as the task's stack. */
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483 &xPrivilegedModeTaskBuffer /* Used to hold the task's data structure. */
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486 /* Create the third and fourth register check tasks, as described at the top
\r
488 xTaskCreateStatic( prvRegTest3Task, "Reg3", configMINIMAL_STACK_SIZE, configREG_TEST_TASK_3_PARAMETER, tskIDLE_PRIORITY, xRegTest3Stack, &xRegTest3Buffer );
\r
489 xTaskCreateStatic( prvRegTest4Task, "Reg4", configMINIMAL_STACK_SIZE, configREG_TEST_TASK_4_PARAMETER, tskIDLE_PRIORITY, xRegTest4Stack, &xRegTest4Buffer );
\r
491 /* Create and start the software timer. */
\r
492 xTimer = xTimerCreateStatic( "Timer", /* Test name for the timer. */
\r
493 mainTIMER_PERIOD, /* Period of the timer. */
\r
494 pdTRUE, /* The timer will auto-reload itself. */
\r
495 ( void * ) 0, /* The timer's ID is used to count the number of times it expires - initialise this to 0. */
\r
496 prvTimerCallback, /* The function called when the timer expires. */
\r
497 &xTimerBuffer ); /* The variable in which the created timer's data structure will be stored. */
\r
498 configASSERT( xTimer );
\r
499 xTimerStart( xTimer, mainDONT_BLOCK );
\r
501 /* Start the scheduler. */
\r
502 vTaskStartScheduler();
\r
504 /* Will only get here if there was insufficient memory to create the idle
\r
508 /*-----------------------------------------------------------*/
\r
510 static void prvCheckTask( void *pvParameters )
\r
512 /* This task is created in privileged mode so can access the file scope
\r
513 queue variable. Take a stack copy of this before the task is set into user
\r
514 mode. Once that task is in user mode the file scope queue variable will no
\r
515 longer be accessible but the stack copy will. */
\r
516 QueueHandle_t xQueue = xGlobalScopeCheckQueue;
\r
518 uint32_t ulStillAliveCounts[ 3 ] = { 0 };
\r
519 const char *pcStatusMessage = "PASS\r\n";
\r
520 uint32_t ulLastRegTest3CountValue = 0, ulLastRegTest4Value = 0;
\r
522 /* The register test tasks that also test the floating point registers increment
\r
523 a counter on each iteration of their loop. The counters are inside the array
\r
524 that this task has access to. */
\r
525 volatile uint32_t *pulOverlaidCounter3 = ( uint32_t * ) &( cReadWriteArray[ 0 ] ), *pulOverlaidCounter4 = ( uint32_t * ) &( cReadWriteArray[ 4 ] );
\r
527 /* ulCycleCount is incremented on each cycle of the check task. It can be
\r
528 viewed updating in the Keil watch window as the simulator does not print to
\r
530 volatile uint32_t ulCycleCount = 0;
\r
532 /* Just to remove compiler warning. */
\r
533 ( void ) pvParameters;
\r
535 /* Demonstrate how the various memory regions can and can't be accessed.
\r
536 The task privilege level is set down to user mode within this function. */
\r
537 prvTestMemoryRegions();
\r
539 /* Clear overlaid reg test counters before entering the loop below. */
\r
540 *pulOverlaidCounter3 = 0UL;
\r
541 *pulOverlaidCounter4 = 0UL;
\r
543 /* This loop performs the main function of the task, which is blocking
\r
544 on a message queue then processing each message as it arrives. */
\r
547 /* Wait for the next message to arrive. */
\r
548 xQueueReceive( xQueue, &lMessage, portMAX_DELAY );
\r
552 case configREG_TEST_1_STILL_EXECUTING :
\r
553 case configREG_TEST_2_STILL_EXECUTING :
\r
554 case configTIMER_STILL_EXECUTING :
\r
555 /* Message from the first or second register check task, or
\r
556 the timer callback function. Increment the count of the
\r
557 number of times the message source has sent the message as
\r
558 the message source must still be executed. */
\r
559 ( ulStillAliveCounts[ lMessage ] )++;
\r
562 case configPRINT_SYSTEM_STATUS :
\r
563 /* Message from tick hook, time to print out the system
\r
564 status. If messages have stopped arriving from either of
\r
565 the first two reg test task or the timer callback then the
\r
566 status must be set to fail. */
\r
567 if( ( ulStillAliveCounts[ 0 ] == 0 ) || ( ulStillAliveCounts[ 1 ] == 0 ) || ( ulStillAliveCounts[ 2 ] == 0 ) )
\r
569 /* One or both of the test tasks are no longer sending
\r
570 'still alive' messages. */
\r
571 pcStatusMessage = "FAIL\r\n";
\r
575 /* Reset the count of 'still alive' messages. */
\r
576 memset( ( void * ) ulStillAliveCounts, 0x00, sizeof( ulStillAliveCounts ) );
\r
579 /* Check that the register test 3 task is still incrementing
\r
580 its counter, and therefore still running. */
\r
581 if( ulLastRegTest3CountValue == *pulOverlaidCounter3 )
\r
583 pcStatusMessage = "FAIL\r\n";
\r
585 ulLastRegTest3CountValue = *pulOverlaidCounter3;
\r
587 /* Check that the register test 4 task is still incrementing
\r
588 its counter, and therefore still running. */
\r
589 if( ulLastRegTest4Value == *pulOverlaidCounter4 )
\r
591 pcStatusMessage = "FAIL\r\n";
\r
593 ulLastRegTest4Value = *pulOverlaidCounter4;
\r
595 /**** Print pcStatusMessage here. ****/
\r
596 ( void ) pcStatusMessage;
\r
598 /* The cycle count can be viewed updating in the Keil watch
\r
599 window if ITM printf is not being used. */
\r
604 /* Something unexpected happened. Delete this task so the
\r
605 error is apparent (no output will be displayed). */
\r
611 /*-----------------------------------------------------------*/
\r
613 static void prvTestMemoryRegions( void )
\r
618 /* The check task (from which this function is called) is created in the
\r
619 Privileged mode. The privileged array can be both read from and written
\r
620 to while this task is privileged. */
\r
621 cPrivilegedOnlyAccessArray[ 0 ] = 'a';
\r
622 if( cPrivilegedOnlyAccessArray[ 0 ] != 'a' )
\r
624 /* Something unexpected happened. Delete this task so the error is
\r
625 apparent (no output will be displayed). */
\r
629 /* Writing off the end of the RAM allocated to this task will *NOT* cause a
\r
630 protection fault because the task is still executing in a privileged mode.
\r
631 Uncomment the following to test. */
\r
632 /*cPrivilegedOnlyAccessArray[ mainPRIVILEGED_ONLY_ACCESS_ALIGN_SIZE ] = 'a';*/
\r
634 /* Now set the task into user mode. */
\r
635 portSWITCH_TO_USER_MODE();
\r
637 /* Accessing the privileged only array will now cause a fault. Uncomment
\r
638 the following line to test. */
\r
639 /*cPrivilegedOnlyAccessArray[ 0 ] = 'a';*/
\r
641 /* The read/write array can still be successfully read and written. */
\r
642 for( x = 0; x < mainREAD_WRITE_ALIGN_SIZE; x++ )
\r
644 cReadWriteArray[ x ] = 'a';
\r
645 if( cReadWriteArray[ x ] != 'a' )
\r
647 /* Something unexpected happened. Delete this task so the error is
\r
648 apparent (no output will be displayed). */
\r
653 /* But attempting to read or write off the end of the RAM allocated to this
\r
654 task will cause a fault. Uncomment either of the following two lines to
\r
656 /* cReadWriteArray[ 0 ] = cReadWriteArray[ -1 ]; */
\r
657 /* cReadWriteArray[ mainREAD_WRITE_ALIGN_SIZE ] = 0x00; */
\r
659 /* The read only array can be successfully read... */
\r
660 for( x = 0; x < mainREAD_ONLY_ALIGN_SIZE; x++ )
\r
662 cTemp = cReadOnlyArray[ x ];
\r
665 /* ...but cannot be written. Uncomment the following line to test. */
\r
666 /* cReadOnlyArray[ 0 ] = 'a'; */
\r
668 /* Writing to the first and last locations in the stack array should not
\r
669 cause a protection fault. Note that doing this will cause the kernel to
\r
670 detect a stack overflow if configCHECK_FOR_STACK_OVERFLOW is greater than
\r
671 1, hence the test is commented out by default. */
\r
672 /* xCheckTaskStack[ 0 ] = 0;
\r
673 xCheckTaskStack[ mainCHECK_TASK_STACK_SIZE_WORDS - 1 ] = 0; */
\r
675 /* Writing off either end of the stack array should cause a protection
\r
676 fault, uncomment either of the following two lines to test. */
\r
677 /* xCheckTaskStack[ -1 ] = 0; */
\r
678 /* xCheckTaskStack[ mainCHECK_TASK_STACK_SIZE_WORDS ] = 0; */
\r
682 /*-----------------------------------------------------------*/
\r
684 static void prvExerciseEventGroupAPI( void )
\r
686 EventGroupHandle_t xEventGroup;
\r
687 StaticEventGroup_t xEventGroupBuffer;
\r
689 const EventBits_t xBitsToWaitFor = ( EventBits_t ) 0xff, xBitToClear = ( EventBits_t ) 0x01;
\r
691 /* Exercise some event group functions. */
\r
692 xEventGroup = xEventGroupCreateStatic( &xEventGroupBuffer );
\r
693 configASSERT( xEventGroup );
\r
695 /* No bits should be set. */
\r
696 xBits = xEventGroupWaitBits( xEventGroup, xBitsToWaitFor, pdTRUE, pdFALSE, mainDONT_BLOCK );
\r
697 configASSERT( xBits == ( EventBits_t ) 0 );
\r
699 /* Set bits and read back to ensure the bits were set. */
\r
700 xEventGroupSetBits( xEventGroup, xBitsToWaitFor );
\r
701 xBits = xEventGroupGetBits( xEventGroup );
\r
702 configASSERT( xBits == xBitsToWaitFor );
\r
704 /* Clear a bit and read back again using a different API function. */
\r
705 xEventGroupClearBits( xEventGroup, xBitToClear );
\r
706 xBits = xEventGroupSync( xEventGroup, 0x00, xBitsToWaitFor, mainDONT_BLOCK );
\r
707 configASSERT( xBits == ( xBitsToWaitFor & ~xBitToClear ) );
\r
709 /* Finished with the event group. */
\r
710 vEventGroupDelete( xEventGroup );
\r
712 /*-----------------------------------------------------------*/
\r
714 static void prvExerciseSemaphoreAPI( void )
\r
716 SemaphoreHandle_t xSemaphore;
\r
717 StaticSemaphore_t xSemaphoreBuffer;
\r
718 const UBaseType_t uxMaxCount = 5, uxInitialCount = 0;
\r
720 /* Most of the semaphore API is common to the queue API and is already being
\r
721 used. This function uses a few semaphore functions that are unique to the
\r
722 RTOS objects, rather than generic and used by queues also.
\r
724 First create and use a counting semaphore. */
\r
725 xSemaphore = xSemaphoreCreateCountingStatic( uxMaxCount, uxInitialCount, &xSemaphoreBuffer );
\r
726 configASSERT( xSemaphore );
\r
728 /* Give the semaphore a couple of times and ensure the count is returned
\r
730 xSemaphoreGive( xSemaphore );
\r
731 xSemaphoreGive( xSemaphore );
\r
732 configASSERT( uxSemaphoreGetCount( xSemaphore ) == 2 );
\r
733 vSemaphoreDelete( xSemaphore );
\r
735 /* Create a recursive mutex, and ensure the mutex holder and count are
\r
736 returned returned correctly. */
\r
737 xSemaphore = xSemaphoreCreateRecursiveMutexStatic( &xSemaphoreBuffer );
\r
738 configASSERT( uxSemaphoreGetCount( xSemaphore ) == 1 );
\r
739 configASSERT( xSemaphore );
\r
740 xSemaphoreTakeRecursive( xSemaphore, mainDONT_BLOCK );
\r
741 xSemaphoreTakeRecursive( xSemaphore, mainDONT_BLOCK );
\r
742 configASSERT( xSemaphoreGetMutexHolder( xSemaphore ) == xTaskGetCurrentTaskHandle() );
\r
743 configASSERT( xSemaphoreGetMutexHolder( xSemaphore ) == xTaskGetHandle( mainTASK_TO_DELETE_NAME ) );
\r
744 xSemaphoreGiveRecursive( xSemaphore );
\r
745 configASSERT( uxSemaphoreGetCount( xSemaphore ) == 0 );
\r
746 xSemaphoreGiveRecursive( xSemaphore );
\r
747 configASSERT( uxSemaphoreGetCount( xSemaphore ) == 1 );
\r
748 configASSERT( xSemaphoreGetMutexHolder( xSemaphore ) == NULL );
\r
749 vSemaphoreDelete( xSemaphore );
\r
751 /* Create a normal mutex, and sure the mutex holder and count are returned
\r
752 returned correctly. */
\r
753 xSemaphore = xSemaphoreCreateMutexStatic( &xSemaphoreBuffer );
\r
754 configASSERT( xSemaphore );
\r
755 xSemaphoreTake( xSemaphore, mainDONT_BLOCK );
\r
756 xSemaphoreTake( xSemaphore, mainDONT_BLOCK );
\r
757 configASSERT( uxSemaphoreGetCount( xSemaphore ) == 0 ); /* Not recursive so can only be 1. */
\r
758 configASSERT( xSemaphoreGetMutexHolder( xSemaphore ) == xTaskGetCurrentTaskHandle() );
\r
759 xSemaphoreGive( xSemaphore );
\r
760 configASSERT( uxSemaphoreGetCount( xSemaphore ) == 1 );
\r
761 configASSERT( xSemaphoreGetMutexHolder( xSemaphore ) == NULL );
\r
762 vSemaphoreDelete( xSemaphore );
\r
764 /*-----------------------------------------------------------*/
\r
766 static void prvExerciseTaskNotificationAPI( void )
\r
768 uint32_t ulNotificationValue;
\r
769 BaseType_t xReturned;
\r
771 /* The task should not yet have a notification pending. */
\r
772 xReturned = xTaskNotifyWait( 0, 0, &ulNotificationValue, mainDONT_BLOCK );
\r
773 configASSERT( xReturned == pdFAIL );
\r
774 configASSERT( ulNotificationValue == 0UL );
\r
776 /* Exercise the 'give' and 'take' versions of the notification API. */
\r
777 xTaskNotifyGive( xTaskGetCurrentTaskHandle() );
\r
778 xTaskNotifyGive( xTaskGetCurrentTaskHandle() );
\r
779 ulNotificationValue = ulTaskNotifyTake( pdTRUE, mainDONT_BLOCK );
\r
780 configASSERT( ulNotificationValue == 2 );
\r
782 /* Exercise the 'notify' and 'clear' API. */
\r
783 ulNotificationValue = 20;
\r
784 xTaskNotify( xTaskGetCurrentTaskHandle(), ulNotificationValue, eSetValueWithOverwrite );
\r
785 ulNotificationValue = 0;
\r
786 xReturned = xTaskNotifyWait( 0, 0, &ulNotificationValue, mainDONT_BLOCK );
\r
787 configASSERT( xReturned == pdPASS );
\r
788 configASSERT( ulNotificationValue == 20 );
\r
789 xTaskNotify( xTaskGetCurrentTaskHandle(), ulNotificationValue, eSetValueWithOverwrite );
\r
790 xReturned = xTaskNotifyStateClear( NULL );
\r
791 configASSERT( xReturned == pdTRUE ); /* First time a notification was pending. */
\r
792 xReturned = xTaskNotifyStateClear( NULL );
\r
793 configASSERT( xReturned == pdFALSE ); /* Second time the notification was already clear. */
\r
795 /*-----------------------------------------------------------*/
\r
797 static void prvTaskToDelete( void *pvParameters )
\r
799 /* Remove compiler warnings about unused parameters. */
\r
800 ( void ) pvParameters;
\r
802 /* Check the enter and exit critical macros are working correctly. If the
\r
803 SVC priority is below configMAX_SYSCALL_INTERRUPT_PRIORITY then this will
\r
805 taskENTER_CRITICAL();
\r
806 taskEXIT_CRITICAL();
\r
808 /* Exercise the API of various RTOS objects. */
\r
809 prvExerciseEventGroupAPI();
\r
810 prvExerciseSemaphoreAPI();
\r
811 prvExerciseTaskNotificationAPI();
\r
813 /* For code coverage test purposes it is deleted by the Idle task. */
\r
814 configASSERT( uxTaskGetStackHighWaterMark( NULL ) > 0 );
\r
815 vTaskSuspend( NULL );
\r
817 /*-----------------------------------------------------------*/
\r
819 void vApplicationIdleHook( void )
\r
821 volatile const uint32_t *pul;
\r
822 volatile uint32_t ulReadData;
\r
824 /* The idle task, and therefore this function, run in Supervisor mode and
\r
825 can therefore access all memory. Try reading from corners of flash and
\r
826 RAM to ensure a memory fault does not occur.
\r
828 Start with the edges of the privileged data area. */
\r
829 pul = __privileged_data_start__;
\r
831 pul = __privileged_data_end__ - 1;
\r
834 /* Next the standard SRAM area. */
\r
835 pul = __SRAM_segment_end__ - 1;
\r
838 /* And the standard Flash area - the start of which is marked for
\r
839 privileged access only. */
\r
840 pul = __FLASH_segment_start__;
\r
842 pul = __FLASH_segment_end__ - 1;
\r
845 /* Reading off the end of Flash or SRAM space should cause a fault.
\r
846 Uncomment one of the following two pairs of lines to test. */
\r
848 /* pul = __FLASH_segment_end__ + 4;
\r
849 ulReadData = *pul; */
\r
851 /* pul = __SRAM_segment_end__ + 1;
\r
852 ulReadData = *pul; */
\r
854 /* One task is created purely so it can be deleted - done for code coverage
\r
856 if( xTaskToDelete != NULL )
\r
858 vTaskDelete( xTaskToDelete );
\r
859 xTaskToDelete = NULL;
\r
862 ( void ) ulReadData;
\r
864 /*-----------------------------------------------------------*/
\r
866 static void prvOldStyleUserModeTask( void *pvParameters )
\r
868 /*const volatile uint32_t *pulStandardPeripheralRegister = ( volatile uint32_t * ) 0x40000000;*/
\r
869 volatile const uint32_t *pul;
\r
870 volatile uint32_t ulReadData;
\r
872 /* The following lines are commented out to prevent the unused variable
\r
873 compiler warnings when the tests that use the variable are also commented out. */
\r
874 /* extern uint32_t __privileged_functions_start__[]; */
\r
875 /* const volatile uint32_t *pulSystemPeripheralRegister = ( volatile uint32_t * ) 0xe000e014; */
\r
877 ( void ) pvParameters;
\r
879 /* This task is created in User mode using the original xTaskCreate() API
\r
880 function. It should have access to all Flash and RAM except that marked
\r
881 as Privileged access only. Reading from the start and end of the non-
\r
882 privileged RAM should not cause a problem (the privileged RAM is the first
\r
883 block at the bottom of the RAM memory). */
\r
884 pul = __privileged_data_end__ + 1;
\r
886 pul = __SRAM_segment_end__ - 1;
\r
889 /* Likewise reading from the start and end of the non-privileged Flash
\r
890 should not be a problem (the privileged Flash is the first block at the
\r
891 bottom of the Flash memory). */
\r
892 pul = __privileged_functions_end__ + 1;
\r
894 pul = __FLASH_segment_end__ - 1;
\r
897 /* Standard peripherals are accessible. */
\r
898 /*ulReadData = *pulStandardPeripheralRegister;*/
\r
900 /* System peripherals are not accessible. Uncomment the following line
\r
901 to test. Also uncomment the declaration of pulSystemPeripheralRegister
\r
902 at the top of this function.
\r
903 ulReadData = *pulSystemPeripheralRegister; */
\r
905 /* Reading from anywhere inside the privileged Flash or RAM should cause a
\r
906 fault. This can be tested by uncommenting any of the following pairs of
\r
907 lines. Also uncomment the declaration of __privileged_functions_start__
\r
908 at the top of this function. */
\r
910 /*pul = __privileged_functions_start__;
\r
911 ulReadData = *pul;*/
\r
913 /*pul = __privileged_functions_end__ - 1;
\r
914 ulReadData = *pul;*/
\r
916 /*pul = __privileged_data_start__;
\r
917 ulReadData = *pul;*/
\r
919 /*pul = __privileged_data_end__ - 1;
\r
920 ulReadData = *pul;*/
\r
922 /* Must not just run off the end of a task function, so delete this task.
\r
923 Note that because this task was created using xTaskCreate() the stack was
\r
924 allocated dynamically and I have not included any code to free it again. */
\r
925 vTaskDelete( NULL );
\r
927 ( void ) ulReadData;
\r
929 /*-----------------------------------------------------------*/
\r
931 static void prvOldStylePrivilegedModeTask( void *pvParameters )
\r
933 volatile const uint32_t *pul;
\r
934 volatile uint32_t ulReadData;
\r
935 const volatile uint32_t *pulSystemPeripheralRegister = ( volatile uint32_t * ) 0xe000e014; /* Systick */
\r
936 /*const volatile uint32_t *pulStandardPeripheralRegister = ( volatile uint32_t * ) 0x40000000;*/
\r
938 ( void ) pvParameters;
\r
940 /* This task is created in Privileged mode using the original xTaskCreate()
\r
941 API function. It should have access to all Flash and RAM including that
\r
942 marked as Privileged access only. So reading from the start and end of the
\r
943 non-privileged RAM should not cause a problem (the privileged RAM is the
\r
944 first block at the bottom of the RAM memory). */
\r
945 pul = __privileged_data_end__ + 1;
\r
947 pul = __SRAM_segment_end__ - 1;
\r
950 /* Likewise reading from the start and end of the non-privileged Flash
\r
951 should not be a problem (the privileged Flash is the first block at the
\r
952 bottom of the Flash memory). */
\r
953 pul = __privileged_functions_end__ + 1;
\r
955 pul = __FLASH_segment_end__ - 1;
\r
958 /* Reading from anywhere inside the privileged Flash or RAM should also
\r
959 not be a problem. */
\r
960 pul = __privileged_functions_start__;
\r
962 pul = __privileged_functions_end__ - 1;
\r
964 pul = __privileged_data_start__;
\r
966 pul = __privileged_data_end__ - 1;
\r
969 /* Finally, accessing both System and normal peripherals should both be
\r
971 ulReadData = *pulSystemPeripheralRegister;
\r
972 /*ulReadData = *pulStandardPeripheralRegister;*/
\r
974 /* Must not just run off the end of a task function, so delete this task.
\r
975 Note that because this task was created using xTaskCreate() the stack was
\r
976 allocated dynamically and I have not included any code to free it again. */
\r
977 vTaskDelete( NULL );
\r
979 ( void ) ulReadData;
\r
981 /*-----------------------------------------------------------*/
\r
983 void vMainDeleteMe( void )
\r
985 vTaskDelete( NULL );
\r
987 /*-----------------------------------------------------------*/
\r
989 void vMainSendImAlive( QueueHandle_t xHandle, uint32_t ulTaskNumber )
\r
991 if( xHandle != NULL )
\r
993 xQueueSend( xHandle, &ulTaskNumber, mainDONT_BLOCK );
\r
996 /*-----------------------------------------------------------*/
\r
998 static void prvSetupHardware( void )
\r
1001 /*-----------------------------------------------------------*/
\r
1003 void vApplicationTickHook( void )
\r
1005 static uint32_t ulCallCount = 0;
\r
1006 const uint32_t ulCallsBetweenSends = pdMS_TO_TICKS( 1000 );
\r
1007 const uint32_t ulMessage = configPRINT_SYSTEM_STATUS;
\r
1008 portBASE_TYPE xDummy;
\r
1010 /* If configUSE_TICK_HOOK is set to 1 then this function will get called
\r
1011 from each RTOS tick. It is called from the tick interrupt and therefore
\r
1012 will be executing in the privileged state. */
\r
1016 /* Is it time to print out the pass/fail message again? */
\r
1017 if( ulCallCount >= ulCallsBetweenSends )
\r
1021 /* Send a message to the check task to command it to check that all
\r
1022 the tasks are still running then print out the status.
\r
1024 This is running in an ISR so has to use the "FromISR" version of
\r
1025 xQueueSend(). Because it is in an ISR it is running with privileges
\r
1026 so can access xGlobalScopeCheckQueue directly. */
\r
1027 xQueueSendFromISR( xGlobalScopeCheckQueue, &ulMessage, &xDummy );
\r
1030 /*-----------------------------------------------------------*/
\r
1032 void vApplicationStackOverflowHook( TaskHandle_t pxTask, char *pcTaskName )
\r
1034 /* If configCHECK_FOR_STACK_OVERFLOW is set to either 1 or 2 then this
\r
1035 function will automatically get called if a task overflows its stack. */
\r
1037 ( void ) pcTaskName;
\r
1040 /*-----------------------------------------------------------*/
\r
1042 void vApplicationMallocFailedHook( void )
\r
1044 /* If configUSE_MALLOC_FAILED_HOOK is set to 1 then this function will
\r
1045 be called automatically if a call to pvPortMalloc() fails. pvPortMalloc()
\r
1046 is called automatically when a task, queue or semaphore is created. */
\r
1049 /*-----------------------------------------------------------*/
\r
1051 static void prvTimerCallback( TimerHandle_t xExpiredTimer )
\r
1055 /* The count of the number of times this timer has expired is saved in the
\r
1056 timer's ID. Obtain the current count. */
\r
1057 ulCount = ( uint32_t ) pvTimerGetTimerID( xTimer );
\r
1059 /* Increment the count, and save it back into the timer's ID. */
\r
1061 vTimerSetTimerID( xTimer, ( void * ) ulCount );
\r
1063 /* Let the check task know the timer is still running. */
\r
1064 vMainSendImAlive( xGlobalScopeCheckQueue, configTIMER_STILL_EXECUTING );
\r
1066 /*-----------------------------------------------------------*/
\r
1068 /* configUSE_STATIC_ALLOCATION is set to 1, so the application must provide an
\r
1069 implementation of vApplicationGetIdleTaskMemory() to provide the memory that is
\r
1070 used by the Idle task. */
\r
1071 void vApplicationGetIdleTaskMemory( StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize )
\r
1073 /* If the buffers to be provided to the Idle task are declared inside this
\r
1074 function then they must be declared static - otherwise they will be allocated on
\r
1075 the stack and so not exists after this function exits. */
\r
1076 static StaticTask_t xIdleTaskTCB;
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1077 static StackType_t uxIdleTaskStack[ configMINIMAL_STACK_SIZE ];
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1079 /* Pass out a pointer to the StaticTask_t structure in which the Idle task's
\r
1080 state will be stored. */
\r
1081 *ppxIdleTaskTCBBuffer = &xIdleTaskTCB;
\r
1083 /* Pass out the array that will be used as the Idle task's stack. */
\r
1084 *ppxIdleTaskStackBuffer = uxIdleTaskStack;
\r
1086 /* Pass out the size of the array pointed to by *ppxIdleTaskStackBuffer.
\r
1087 Note that, as the array is necessarily of type StackType_t,
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1088 configMINIMAL_STACK_SIZE is specified in words, not bytes. */
\r
1089 *pulIdleTaskStackSize = configMINIMAL_STACK_SIZE;
\r
1091 /*-----------------------------------------------------------*/
\r
1093 /* configUSE_STATIC_ALLOCATION and configUSE_TIMERS are both set to 1, so the
\r
1094 application must provide an implementation of vApplicationGetTimerTaskMemory()
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1095 to provide the memory that is used by the Timer service task. */
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1096 void vApplicationGetTimerTaskMemory( StaticTask_t **ppxTimerTaskTCBBuffer, StackType_t **ppxTimerTaskStackBuffer, uint32_t *pulTimerTaskStackSize )
\r
1098 /* If the buffers to be provided to the Timer task are declared inside this
\r
1099 function then they must be declared static - otherwise they will be allocated on
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1100 the stack and so not exists after this function exits. */
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1101 static StaticTask_t xTimerTaskTCB;
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1102 static StackType_t uxTimerTaskStack[ configTIMER_TASK_STACK_DEPTH ];
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1104 /* Pass out a pointer to the StaticTask_t structure in which the Timer
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1105 task's state will be stored. */
\r
1106 *ppxTimerTaskTCBBuffer = &xTimerTaskTCB;
\r
1108 /* Pass out the array that will be used as the Timer task's stack. */
\r
1109 *ppxTimerTaskStackBuffer = uxTimerTaskStack;
\r
1111 /* Pass out the size of the array pointed to by *ppxTimerTaskStackBuffer.
\r
1112 Note that, as the array is necessarily of type StackType_t,
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1113 configMINIMAL_STACK_SIZE is specified in words, not bytes. */
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1114 *pulTimerTaskStackSize = configTIMER_TASK_STACK_DEPTH;
\r
1116 /*-----------------------------------------------------------*/
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1118 static void prvRegTest3Task( void *pvParameters )
\r
1120 /* Although the regtest task is written in assembler, its entry point is
\r
1121 written in C for convenience of checking the task parameter is being passed
\r
1123 if( pvParameters == configREG_TEST_TASK_3_PARAMETER )
\r
1125 /* Start the part of the test that is written in assembler. */
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1126 vRegTest3Implementation();
\r
1129 /* The following line will only execute if the task parameter is found to
\r
1130 be incorrect. The check task will detect that the regtest loop counter is
\r
1131 not being incremented and flag an error. */
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1132 vTaskDelete( NULL );
\r
1134 /*-----------------------------------------------------------*/
\r
1136 static void prvRegTest4Task( void *pvParameters )
\r
1138 /* Although the regtest task is written in assembler, its entry point is
\r
1139 written in C for convenience of checking the task parameter is being passed
\r
1141 if( pvParameters == configREG_TEST_TASK_4_PARAMETER )
\r
1143 /* Start the part of the test that is written in assembler. */
\r
1144 vRegTest4Implementation();
\r
1147 /* The following line will only execute if the task parameter is found to
\r
1148 be incorrect. The check task will detect that the regtest loop counter is
\r
1149 not being incremented and flag an error. */
\r
1150 vTaskDelete( NULL );
\r
1152 /*-----------------------------------------------------------*/
\r
projects / freertos / blob