From 4cbeb6b0ffc629cfd6ee4a221a6daa3b1586bf8f Mon Sep 17 00:00:00 2001 From: rtel Date: Mon, 18 Apr 2016 10:49:24 +0000 Subject: [PATCH] Updates to support FreeRTOS MPU in FreeRTOS V9.0.0 - including a GCC project that runs in the Keil simulator to allow development and testing. git-svn-id: https://svn.code.sf.net/p/freertos/code/trunk@2444 1d2547de-c912-0410-9cb9-b8ca96c0e9e2 --- .../FreeRTOSConfig.h | 191 ++ .../GCC_Specific/RTOSDemo.uvguix.barryri | 2655 +++++++++++++++++ .../GCC_Specific/RTOSDemo.uvoptx | 369 +++ .../GCC_Specific/RTOSDemo.uvprojx | 343 +++ .../GCC_Specific/RegTest.c | 457 +++ .../GCC_Specific/sections.ld | 449 +++ .../GCC_Specific/startup_ARMCM4.S | 217 ++ .../Demo/CORTEX_MPU_Simulator_Keil_GCC/main.c | 961 ++++++ FreeRTOS/Source/include/FreeRTOS.h | 4 - FreeRTOS/Source/include/mpu_wrappers.h | 3 +- FreeRTOS/Source/include/task.h | 19 +- FreeRTOS/Source/include/timers.h | 13 +- .../Source/portable/GCC/ARM_CM3_MPU/port.c | 26 +- FreeRTOS/Source/portable/MSVC-MingW/port.c | 13 +- FreeRTOS/Source/tasks.c | 159 +- FreeRTOS/Source/timers.c | 42 +- 16 files changed, 5877 insertions(+), 44 deletions(-) create mode 100644 FreeRTOS/Demo/CORTEX_MPU_Simulator_Keil_GCC/FreeRTOSConfig.h create mode 100644 FreeRTOS/Demo/CORTEX_MPU_Simulator_Keil_GCC/GCC_Specific/RTOSDemo.uvguix.barryri create mode 100644 FreeRTOS/Demo/CORTEX_MPU_Simulator_Keil_GCC/GCC_Specific/RTOSDemo.uvoptx create mode 100644 FreeRTOS/Demo/CORTEX_MPU_Simulator_Keil_GCC/GCC_Specific/RTOSDemo.uvprojx create mode 100644 FreeRTOS/Demo/CORTEX_MPU_Simulator_Keil_GCC/GCC_Specific/RegTest.c create mode 100644 FreeRTOS/Demo/CORTEX_MPU_Simulator_Keil_GCC/GCC_Specific/sections.ld create mode 100644 FreeRTOS/Demo/CORTEX_MPU_Simulator_Keil_GCC/GCC_Specific/startup_ARMCM4.S create mode 100644 FreeRTOS/Demo/CORTEX_MPU_Simulator_Keil_GCC/main.c diff --git a/FreeRTOS/Demo/CORTEX_MPU_Simulator_Keil_GCC/FreeRTOSConfig.h b/FreeRTOS/Demo/CORTEX_MPU_Simulator_Keil_GCC/FreeRTOSConfig.h new file mode 100644 index 000000000..d6dd1b712 --- /dev/null +++ b/FreeRTOS/Demo/CORTEX_MPU_Simulator_Keil_GCC/FreeRTOSConfig.h @@ -0,0 +1,191 @@ +/* + FreeRTOS V9.0.0rc2 - Copyright (C) 2016 Real Time Engineers Ltd. + All rights reserved + + VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. + + This file is part of the FreeRTOS distribution. + + FreeRTOS is free software; you can redistribute it and/or modify it under + the terms of the GNU General Public License (version 2) as published by the + Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception. + + *************************************************************************** + >>! NOTE: The modification to the GPL is included to allow you to !<< + >>! distribute a combined work that includes FreeRTOS without being !<< + >>! obliged to provide the source code for proprietary components !<< + >>! outside of the FreeRTOS kernel. !<< + *************************************************************************** + + FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY + WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS + FOR A PARTICULAR PURPOSE. Full license text is available on the following + link: http://www.freertos.org/a00114.html + + *************************************************************************** + * * + * FreeRTOS provides completely free yet professionally developed, * + * robust, strictly quality controlled, supported, and cross * + * platform software that is more than just the market leader, it * + * is the industry's de facto standard. * + * * + * Help yourself get started quickly while simultaneously helping * + * to support the FreeRTOS project by purchasing a FreeRTOS * + * tutorial book, reference manual, or both: * + * http://www.FreeRTOS.org/Documentation * + * * + *************************************************************************** + + http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading + the FAQ page "My application does not run, what could be wrong?". Have you + defined configASSERT()? + + http://www.FreeRTOS.org/support - In return for receiving this top quality + embedded software for free we request you assist our global community by + participating in the support forum. + + http://www.FreeRTOS.org/training - Investing in training allows your team to + be as productive as possible as early as possible. Now you can receive + FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers + Ltd, and the world's leading authority on the world's leading RTOS. + + http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, + including FreeRTOS+Trace - an indispensable productivity tool, a DOS + compatible FAT file system, and our tiny thread aware UDP/IP stack. + + http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate. + Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS. + + http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High + Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS + licenses offer ticketed support, indemnification and commercial middleware. + + http://www.SafeRTOS.com - High Integrity Systems also provide a safety + engineered and independently SIL3 certified version for use in safety and + mission critical applications that require provable dependability. + + 1 tab == 4 spaces! +*/ + + +#ifndef FREERTOS_CONFIG_H +#define FREERTOS_CONFIG_H + +#ifdef __cplusplus +extern "C" { +#endif + +/*----------------------------------------------------------- + * Application specific definitions. + * + * These definitions should be adjusted for your particular hardware and + * application requirements. + * + * THESE PARAMETERS ARE DESCRIBED WITHIN THE 'CONFIGURATION' SECTION OF THE + * FreeRTOS API DOCUMENTATION AVAILABLE ON THE FreeRTOS.org WEB SITE. + * + * See http://www.freertos.org/a00110.html. + *----------------------------------------------------------*/ + +#define configUSE_PREEMPTION 1 +#define configTICK_RATE_HZ ( 1000 ) +#define configUSE_PORT_OPTIMISED_TASK_SELECTION 0 +#define configUSE_QUEUE_SETS 0 +#define configUSE_IDLE_HOOK 1 +#define configUSE_TICK_HOOK 1 +#define configCPU_CLOCK_HZ 48000000 +#define configMAX_PRIORITIES ( 5 ) +#define configMINIMAL_STACK_SIZE ( ( unsigned short ) 120 ) +#define configTOTAL_HEAP_SIZE ( ( size_t ) ( 16 * 1024 ) ) +#define configMAX_TASK_NAME_LEN ( 10 ) +#define configUSE_TRACE_FACILITY 0 +#define configUSE_16_BIT_TICKS 0 +#define configIDLE_SHOULD_YIELD 1 +#define configUSE_MUTEXES 0 +#define configQUEUE_REGISTRY_SIZE 0 +#define configCHECK_FOR_STACK_OVERFLOW 2 +#define configUSE_RECURSIVE_MUTEXES 0 +#define configUSE_MALLOC_FAILED_HOOK 1 +#define configUSE_APPLICATION_TASK_TAG 0 +#define configUSE_COUNTING_SEMAPHORES 0 +#define configSUPPORT_STATIC_ALLOCATION 0 +#define configUSE_TICKLESS_IDLE 0 + +/* Run time stats gathering definitions. */ +#define configGENERATE_RUN_TIME_STATS 0 +#define portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() +#define portGET_RUN_TIME_COUNTER_VALUE() + +/* This demo makes use of one or more example stats formatting functions. These +format the raw data provided by the uxTaskGetSystemState() function in to human +readable ASCII form. See the notes in the implementation of vTaskList() within +FreeRTOS/Source/tasks.c for limitations. */ +#define configUSE_STATS_FORMATTING_FUNCTIONS 0 + +/* Co-routine definitions. */ +#define configUSE_CO_ROUTINES 0 +#define configMAX_CO_ROUTINE_PRIORITIES ( 2 ) + +/* Software timer definitions. */ +#define configUSE_TIMERS 0 +#define configTIMER_TASK_PRIORITY ( 2 ) +#define configTIMER_QUEUE_LENGTH 5 +#define configTIMER_TASK_STACK_DEPTH ( configMINIMAL_STACK_SIZE ) + +/* Set the following definitions to 1 to include the API function, or zero +to exclude the API function. */ +#define INCLUDE_vTaskPrioritySet 1 +#define INCLUDE_uxTaskPriorityGet 1 +#define INCLUDE_vTaskDelete 1 +#define INCLUDE_vTaskCleanUpResources 1 +#define INCLUDE_vTaskSuspend 1 +#define INCLUDE_vTaskDelayUntil 1 +#define INCLUDE_vTaskDelay 1 +#define INCLUDE_eTaskGetState 1 +#define INCLUDE_xTimerPendFunctionCall 0 + +/* Cortex-M specific definitions. */ +#ifdef __NVIC_PRIO_BITS + /* __BVIC_PRIO_BITS will be specified when CMSIS is being used. */ + #define configPRIO_BITS __NVIC_PRIO_BITS +#else + #define configPRIO_BITS 3 /* 7 priority levels */ +#endif + +/* The lowest interrupt priority that can be used in a call to a "set priority" +function. */ +#define configLIBRARY_LOWEST_INTERRUPT_PRIORITY 0x7 + +/* The highest interrupt priority that can be used by any interrupt service +routine that makes calls to interrupt safe FreeRTOS API functions. DO NOT CALL +INTERRUPT SAFE FREERTOS API FUNCTIONS FROM ANY INTERRUPT THAT HAS A HIGHER +PRIORITY THAN THIS! (higher priorities are lower numeric values. */ +#define configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY 5 + +/* Interrupt priorities used by the kernel port layer itself. These are generic +to all Cortex-M ports, and do not rely on any particular library functions. */ +#define configKERNEL_INTERRUPT_PRIORITY ( configLIBRARY_LOWEST_INTERRUPT_PRIORITY << (8 - configPRIO_BITS) ) +/* !!!! configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to zero !!!! +See http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html. */ +#define configMAX_SYSCALL_INTERRUPT_PRIORITY ( configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY << (8 - configPRIO_BITS) ) + + +/* Definitions that map the FreeRTOS port interrupt handlers to their CMSIS +standard names. */ +#define xPortPendSVHandler PendSV_Handler +#define vPortSVCHandler SVC_Handler +#define xPortSysTickHandler SysTick_Handler + +/* Normal assert() semantics without relying on the provision of an assert.h +header file. */ +#define configASSERT( x ) if( ( x ) == 0UL ) { taskDISABLE_INTERRUPTS(); for( ;; ); } + +/* LED not used at present, so just increment a variable to keep a count of the +number of times the LED would otherwise have been toggled. */ +#define configTOGGLE_LED() ulLED++ + + +#ifdef __cplusplus +} +#endif +#endif /* FREERTOS_CONFIG_H */ diff --git a/FreeRTOS/Demo/CORTEX_MPU_Simulator_Keil_GCC/GCC_Specific/RTOSDemo.uvguix.barryri b/FreeRTOS/Demo/CORTEX_MPU_Simulator_Keil_GCC/GCC_Specific/RTOSDemo.uvguix.barryri new file mode 100644 index 000000000..891772eef --- /dev/null +++ b/FreeRTOS/Demo/CORTEX_MPU_Simulator_Keil_GCC/GCC_Specific/RTOSDemo.uvguix.barryri @@ -0,0 +1,2655 @@ + + + + -5.1 + +
### uVision Project, (C) Keil Software
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+ + + + 0 + 1920 + 1200 + + + + + + 1 + 0 + + 100 + 0 + + ..\..\..\Source\queue.c + 2 + 23 + 68 + 1 + + 0 + + + ..\FreeRTOSConfig.h + 0 + 148 + 192 + 1 + + 0 + + + .\startup_ARMCM4.S + 0 + 125 + 139 + 1 + + 0 + + + ..\main.c + 0 + 273 + 316 + 1 + + 0 + + + C:\E\Dev\FreeRTOS\WorkingCopy\FreeRTOS\Demo\CORTEX_MPU_Simulator_Keil_GCC\GCC_Specific\sections.ld + 52 + 13 + 4 + 1 + + 0 + + + ..\..\..\Source\tasks.c + 0 + 3596 + 3608 + 1 + + 0 + + + ..\..\..\Source\portable\GCC\ARM_CM3_MPU\port.c + 0 + 390 + 402 + 1 + + 0 + + + + + diff --git a/FreeRTOS/Demo/CORTEX_MPU_Simulator_Keil_GCC/GCC_Specific/RTOSDemo.uvoptx b/FreeRTOS/Demo/CORTEX_MPU_Simulator_Keil_GCC/GCC_Specific/RTOSDemo.uvoptx new file mode 100644 index 000000000..0d97bc04e --- /dev/null +++ b/FreeRTOS/Demo/CORTEX_MPU_Simulator_Keil_GCC/GCC_Specific/RTOSDemo.uvoptx @@ -0,0 +1,369 @@ + + + + 1.0 + +
### uVision Project, (C) Keil Software
+ + + *.c;*.S + + *.obj + *.lib + *.txt; *.h; *.inc + *.plm + *.cpp + 0 + + + + 0 + 0 + + + + RTOSDemo_GCC_MPU + 0x3 + ARM-GNU + + 12000000 + + 1 + 1 + 0 + 1 + 0 + + + 1 + 65535 + 0 + 0 + 0 + + + 120 + 65 + 8 + .\Listings\ + + + 1 + 1 + 1 + 0 + 1 + 1 + 0 + 1 + 0 + 0 + 0 + 0 + + + 1 + 1 + 1 + 1 + 1 + 1 + 1 + 0 + 0 + + + 1 + 0 + 1 + + 7 + + 1 + 0 + 1 + 1 + 1 + 1 + 1 + 1 + 1 + 1 + 1 + 1 + 1 + 1 + 0 + 1 + 1 + 1 + 1 + 0 + 0 + 0 + + + + + + + + + + + BIN\UL2CM3.DLL + + + + 0 + DLGDARM + (1010=-1,-1,-1,-1,0)(1007=-1,-1,-1,-1,0)(1008=-1,-1,-1,-1,0)(1009=-1,-1,-1,-1,0)(1012=1234,201,1699,501,0) + + + 0 + ARMRTXEVENTFLAGS + -L70 -Z18 -C0 -M0 -T1 + + + 0 + DLGTARM + (1010=-1,-1,-1,-1,0)(1007=-1,-1,-1,-1,0)(1008=-1,-1,-1,-1,0)(1009=120,149,354,683,0)(1012=-1,-1,-1,-1,0) + + + 0 + ARMDBGFLAGS + -T0 + + + 0 + DLGUARM + (105=-1,-1,-1,-1,0) + + + 0 + UL2CM3 + -UV1115SAE -O2983 -S0 -C0 -P00 -N00("ARM CoreSight JTAG-DP") -D00(4BA00477) -L00(4) -TO18 -TC10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO11 -FN1 -FC1000 -FD20000000 -FF0NEW_DEVICE -FL080000 -FS00 -FP0($$Device:ARMCM4_FP$Device\ARM\Flash\NEW_DEVICE.FLM) + + + + + 0 + 0 + 3619 + 1 +
8634
+ 0 + 0 + 0 + 0 + 0 + 1 + C:\E\Dev\FreeRTOS\WorkingCopy\FreeRTOS\Source\tasks.c + + \\RTOSDemo\../../../Source/tasks.c\3619 + + + + + 0 + 1 + xTickCount + + + + + 1 + 2 + 0x100000 + 4 + + + + 0 + + + 0 + 1 + 0 + 0 + 0 + 0 + 0 + 1 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + + + + 0 + + + 0 + + 1 + 0 + 2 + 10000000 + + + + + + System + 1 + 0 + 0 + 0 + + 1 + 1 + 2 + 0 + 0 + 0 + .\startup_ARMCM4.S + startup_ARMCM4.S + 0 + 0 + + + + + main_and_config + 1 + 0 + 0 + 0 + + 2 + 2 + 1 + 0 + 0 + 0 + ..\main.c + main.c + 0 + 0 + + + 2 + 3 + 5 + 0 + 0 + 0 + ..\FreeRTOSConfig.h + FreeRTOSConfig.h + 0 + 0 + + + + + FreeRTOS_Source + 1 + 0 + 0 + 0 + + 3 + 4 + 1 + 0 + 0 + 0 + ..\..\..\Source\event_groups.c + event_groups.c + 0 + 0 + + + 3 + 5 + 1 + 0 + 0 + 0 + ..\..\..\Source\list.c + list.c + 0 + 0 + + + 3 + 6 + 1 + 0 + 0 + 0 + ..\..\..\Source\queue.c + queue.c + 0 + 0 + + + 3 + 7 + 1 + 0 + 0 + 0 + ..\..\..\Source\tasks.c + tasks.c + 0 + 0 + + + 3 + 8 + 1 + 0 + 0 + 0 + ..\..\..\Source\timers.c + timers.c + 0 + 0 + + + 3 + 9 + 1 + 0 + 0 + 0 + ..\..\..\Source\portable\MemMang\heap_4.c + heap_4.c + 0 + 0 + + + 3 + 10 + 1 + 0 + 0 + 0 + ..\..\..\Source\portable\GCC\ARM_CM3_MPU\port.c + port.c + 0 + 0 + + + + diff --git a/FreeRTOS/Demo/CORTEX_MPU_Simulator_Keil_GCC/GCC_Specific/RTOSDemo.uvprojx b/FreeRTOS/Demo/CORTEX_MPU_Simulator_Keil_GCC/GCC_Specific/RTOSDemo.uvprojx new file mode 100644 index 000000000..d1700fe14 --- /dev/null +++ b/FreeRTOS/Demo/CORTEX_MPU_Simulator_Keil_GCC/GCC_Specific/RTOSDemo.uvprojx @@ -0,0 +1,343 @@ + + + + 2.1 + +
### uVision Project, (C) Keil Software
+ + + + RTOSDemo_GCC_MPU + 0x3 + ARM-GNU + 5060061::V5.06 update 1 (build 61)::ARMCC + + + ARMCM4_FP + ARM + ARM.CMSIS.4.5.0 + http://www.keil.com/pack/ + IROM(0x00000000,0x80000) IRAM(0x20000000,0x20000) CPUTYPE("Cortex-M4") FPU2 CLOCK(12000000) ESEL ELITTLE + + + UL2CM3(-S0 -C0 -P0 -FD20000000 -FC1000 -FN1 -FF0NEW_DEVICE -FS00 -FL080000 -FP0($$Device:ARMCM4_FP$Device\ARM\Flash\NEW_DEVICE.FLM)) + 0 + $$Device:ARMCM4_FP$Device\ARM\ARMCM4\Include\ARMCM4_FP.h + + + + + + + + + + $$Device:ARMCM4_FP$Device\ARM\SVD\ARMCM4.svd + 0 + 0 + + + + + + + 0 + 0 + 0 + 0 + 1 + + .\Objects\ + RTOSDemo + 1 + 0 + 0 + 1 + 0 + .\Listings\ + 1 + 0 + 0 + + 0 + 0 + + + 0 + 0 + 0 + 0 + + + 0 + 0 + + + 0 + 0 + 0 + 0 + + + 0 + 0 + + + 0 + 0 + 0 + 0 + + 0 + + + + 0 + 0 + 0 + 0 + 0 + 1 + 0 + 0 + 0 + 0 + 3 + + + 1 + + + SARMCM3.DLL + -MPU + DCM.DLL + -pCM4 + SARMCM3.DLL + -MPU + TCM.DLL + -pCM4 + + + + 1 + 0 + 0 + 0 + 16 + + + + + 1 + 0 + 0 + 1 + 1 + 4096 + + 1 + BIN\UL2CM3.DLL + "" () + + + + + 0 + + + + 1 + 1 + 1 + 1 + 1 + 1 + 1 + 1 + 1 + 1 + 1 + 0 + "Cortex-M4" + 0 + 0 + 0 + 1 + 1 + 0 + 0 + 2 + 0 + 0 + + + 0 + 0x0 + 0x0 + + + 0 + 0x0 + 0x0 + + + 0 + 0x0 + 0x0 + + + 0 + 0x0 + 0x0 + + + 0 + 0x0 + 0x0 + + + 0 + 0x0 + 0x0 + + + 0 + 0x20000000 + 0x20000 + + + 1 + 0x0 + 0x80000 + + + 0 + 0x0 + 0x0 + + + 0 + 0x0 + 0x0 + + + 1 + 0x200000 + 0x4000 + + + + + 1 + 0 + 0 + 1 + 0 + 0 + 0 + 2 + 1 + + -mfloat-abi=softfp -mfpu=fpv4-sp-d16 -ffunction-sections -fdata-sections -O0 -g + + + ..;..\..\..\Source\include;..\..\..\Source\portable\GCC\ARM_CM3_MPU;..\..\Common\include;..\peripheral_library;..\CMSIS;..\main_full;..\peripheral_library\interrupt + + + + 0 + 1 + + + + + + + + + 1 + 0 + 1 + 0 + 1 + + + + + + -Xlinker --gc-sections + .\sections.ld + + + + + + System + + + startup_ARMCM4.S + 2 + .\startup_ARMCM4.S + + + + + main_and_config + + + main.c + 1 + ..\main.c + + + FreeRTOSConfig.h + 5 + ..\FreeRTOSConfig.h + + + + + FreeRTOS_Source + + + event_groups.c + 1 + ..\..\..\Source\event_groups.c + + + list.c + 1 + ..\..\..\Source\list.c + + + queue.c + 1 + ..\..\..\Source\queue.c + + + tasks.c + 1 + ..\..\..\Source\tasks.c + + + timers.c + 1 + ..\..\..\Source\timers.c + + + heap_4.c + 1 + ..\..\..\Source\portable\MemMang\heap_4.c + + + port.c + 1 + ..\..\..\Source\portable\GCC\ARM_CM3_MPU\port.c + + + + + + + + diff --git a/FreeRTOS/Demo/CORTEX_MPU_Simulator_Keil_GCC/GCC_Specific/RegTest.c b/FreeRTOS/Demo/CORTEX_MPU_Simulator_Keil_GCC/GCC_Specific/RegTest.c new file mode 100644 index 000000000..dd82dd892 --- /dev/null +++ b/FreeRTOS/Demo/CORTEX_MPU_Simulator_Keil_GCC/GCC_Specific/RegTest.c @@ -0,0 +1,457 @@ +/* + FreeRTOS V8.2.3 - Copyright (C) 2015 Real Time Engineers Ltd. + All rights reserved + + VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. + + This file is part of the FreeRTOS distribution. + + FreeRTOS is free software; you can redistribute it and/or modify it under + the terms of the GNU General Public License (version 2) as published by the + Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception. + + *************************************************************************** + >>! NOTE: The modification to the GPL is included to allow you to !<< + >>! distribute a combined work that includes FreeRTOS without being !<< + >>! obliged to provide the source code for proprietary components !<< + >>! outside of the FreeRTOS kernel. !<< + *************************************************************************** + + FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY + WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS + FOR A PARTICULAR PURPOSE. Full license text is available on the following + link: http://www.freertos.org/a00114.html + + *************************************************************************** + * * + * FreeRTOS provides completely free yet professionally developed, * + * robust, strictly quality controlled, supported, and cross * + * platform software that is more than just the market leader, it * + * is the industry's de facto standard. * + * * + * Help yourself get started quickly while simultaneously helping * + * to support the FreeRTOS project by purchasing a FreeRTOS * + * tutorial book, reference manual, or both: * + * http://www.FreeRTOS.org/Documentation * + * * + *************************************************************************** + + http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading + the FAQ page "My application does not run, what could be wrong?". Have you + defined configASSERT()? + + http://www.FreeRTOS.org/support - In return for receiving this top quality + embedded software for free we request you assist our global community by + participating in the support forum. + + http://www.FreeRTOS.org/training - Investing in training allows your team to + be as productive as possible as early as possible. Now you can receive + FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers + Ltd, and the world's leading authority on the world's leading RTOS. + + http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, + including FreeRTOS+Trace - an indispensable productivity tool, a DOS + compatible FAT file system, and our tiny thread aware UDP/IP stack. + + http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate. + Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS. + + http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High + Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS + licenses offer ticketed support, indemnification and commercial middleware. + + http://www.SafeRTOS.com - High Integrity Systems also provide a safety + engineered and independently SIL3 certified version for use in safety and + mission critical applications that require provable dependability. + + 1 tab == 4 spaces! +*/ + +/* + * "Reg test" tasks - These fill the registers with known values, then check + * that each register maintains its expected value for the lifetime of the + * task. Each task uses a different set of values. The reg test tasks execute + * with a very low priority, so get preempted very frequently. A register + * containing an unexpected value is indicative of an error in the context + * switching mechanism. + */ + +void vRegTest1Implementation( void ) __attribute__ ((naked)); +void vRegTest2Implementation( void ) __attribute__ ((naked)); + +void vRegTest1Implementation( void ) +{ + __asm volatile + ( + ".extern ulRegTest1LoopCounter \n" + "/* Fill the core registers with known values. */ \n" + "mov r0, #100 \n" + "mov r1, #101 \n" + "mov r2, #102 \n" + "mov r3, #103 \n" + "mov r4, #104 \n" + "mov r5, #105 \n" + "mov r6, #106 \n" + "mov r7, #107 \n" + "mov r8, #108 \n" + "mov r9, #109 \n" + "mov r10, #110 \n" + "mov r11, #111 \n" + "mov r12, #112 \n" + + "/* Fill the VFP registers with known values. */ \n" + "vmov d0, r0, r1 \n" + "vmov d1, r2, r3 \n" + "vmov d2, r4, r5 \n" + "vmov d3, r6, r7 \n" + "vmov d4, r8, r9 \n" + "vmov d5, r10, r11 \n" + "vmov d6, r0, r1 \n" + "vmov d7, r2, r3 \n" + "vmov d8, r4, r5 \n" + "vmov d9, r6, r7 \n" + "vmov d10, r8, r9 \n" + "vmov d11, r10, r11 \n" + "vmov d12, r0, r1 \n" + "vmov d13, r2, r3 \n" + "vmov d14, r4, r5 \n" + "vmov d15, r6, r7 \n" + + "reg1_loop: \n" + "/* Check all the VFP registers still contain the values set above. \n" + "First save registers that are clobbered by the test. */ \n" + "push { r0-r1 } \n" + + "vmov r0, r1, d0 \n" + "cmp r0, #100 \n" + "bne reg1_error_loopf \n" + "cmp r1, #101 \n" + "bne reg1_error_loopf \n" + "vmov r0, r1, d1 \n" + "cmp r0, #102 \n" + "bne reg1_error_loopf \n" + "cmp r1, #103 \n" + "bne reg1_error_loopf \n" + "vmov r0, r1, d2 \n" + "cmp r0, #104 \n" + "bne reg1_error_loopf \n" + "cmp r1, #105 \n" + "bne reg1_error_loopf \n" + "vmov r0, r1, d3 \n" + "cmp r0, #106 \n" + "bne reg1_error_loopf \n" + "cmp r1, #107 \n" + "bne reg1_error_loopf \n" + "vmov r0, r1, d4 \n" + "cmp r0, #108 \n" + "bne reg1_error_loopf \n" + "cmp r1, #109 \n" + "bne reg1_error_loopf \n" + "vmov r0, r1, d5 \n" + "cmp r0, #110 \n" + "bne reg1_error_loopf \n" + "cmp r1, #111 \n" + "bne reg1_error_loopf \n" + "vmov r0, r1, d6 \n" + "cmp r0, #100 \n" + "bne reg1_error_loopf \n" + "cmp r1, #101 \n" + "bne reg1_error_loopf \n" + "vmov r0, r1, d7 \n" + "cmp r0, #102 \n" + "bne reg1_error_loopf \n" + "cmp r1, #103 \n" + "bne reg1_error_loopf \n" + "vmov r0, r1, d8 \n" + "cmp r0, #104 \n" + "bne reg1_error_loopf \n" + "cmp r1, #105 \n" + "bne reg1_error_loopf \n" + "vmov r0, r1, d9 \n" + "cmp r0, #106 \n" + "bne reg1_error_loopf \n" + "cmp r1, #107 \n" + "bne reg1_error_loopf \n" + "vmov r0, r1, d10 \n" + "cmp r0, #108 \n" + "bne reg1_error_loopf \n" + "cmp r1, #109 \n" + "bne reg1_error_loopf \n" + "vmov r0, r1, d11 \n" + "cmp r0, #110 \n" + "bne reg1_error_loopf \n" + "cmp r1, #111 \n" + "bne reg1_error_loopf \n" + "vmov r0, r1, d12 \n" + "cmp r0, #100 \n" + "bne reg1_error_loopf \n" + "cmp r1, #101 \n" + "bne reg1_error_loopf \n" + "vmov r0, r1, d13 \n" + "cmp r0, #102 \n" + "bne reg1_error_loopf \n" + "cmp r1, #103 \n" + "bne reg1_error_loopf \n" + "vmov r0, r1, d14 \n" + "cmp r0, #104 \n" + "bne reg1_error_loopf \n" + "cmp r1, #105 \n" + "bne reg1_error_loopf \n" + "vmov r0, r1, d15 \n" + "cmp r0, #106 \n" + "bne reg1_error_loopf \n" + "cmp r1, #107 \n" + "bne reg1_error_loopf \n" + + "/* Restore the registers that were clobbered by the test. */ \n" + "pop {r0-r1} \n" + + "/* VFP register test passed. Jump to the core register test. */ \n" + "b reg1_loopf_pass \n" + + "reg1_error_loopf: \n" + "/* If this line is hit then a VFP register value was found to be incorrect. */ \n" + "b reg1_error_loopf \n" + + "reg1_loopf_pass: \n" + + "cmp r0, #100 \n" + "bne reg1_error_loop \n" + "cmp r1, #101 \n" + "bne reg1_error_loop \n" + "cmp r2, #102 \n" + "bne reg1_error_loop \n" + "cmp r3, #103 \n" + "bne reg1_error_loop \n" + "cmp r4, #104 \n" + "bne reg1_error_loop \n" + "cmp r5, #105 \n" + "bne reg1_error_loop \n" + "cmp r6, #106 \n" + "bne reg1_error_loop \n" + "cmp r7, #107 \n" + "bne reg1_error_loop \n" + "cmp r8, #108 \n" + "bne reg1_error_loop \n" + "cmp r9, #109 \n" + "bne reg1_error_loop \n" + "cmp r10, #110 \n" + "bne reg1_error_loop \n" + "cmp r11, #111 \n" + "bne reg1_error_loop \n" + "cmp r12, #112 \n" + "bne reg1_error_loop \n" + + "/* Everything passed, increment the loop counter. */ \n" + "push { r0-r1 } \n" + "ldr r0, =ulRegTest1LoopCounter \n" + "ldr r1, [r0] \n" + "adds r1, r1, #1 \n" + "str r1, [r0] \n" + "pop { r0-r1 } \n" + + "/* Start again. */ \n" + "b reg1_loop \n" + + "reg1_error_loop: \n" + "/* If this line is hit then there was an error in a core register value. \n" + "The loop ensures the loop counter stops incrementing. */ \n" + "b reg1_error_loop \n" + "nop " + ); /* __asm volatile. */ +} +/*-----------------------------------------------------------*/ + +void vRegTest2Implementation( void ) +{ + __asm volatile + ( + ".extern ulRegTest2LoopCounter \n" + "/* Set all the core registers to known values. */ \n" + "mov r0, #-1 \n" + "mov r1, #1 \n" + "mov r2, #2 \n" + "mov r3, #3 \n" + "mov r4, #4 \n" + "mov r5, #5 \n" + "mov r6, #6 \n" + "mov r7, #7 \n" + "mov r8, #8 \n" + "mov r9, #9 \n" + "mov r10, #10 \n" + "mov r11, #11 \n" + "mov r12, #12 \n" + + "/* Set all the VFP to known values. */ \n" + "vmov d0, r0, r1 \n" + "vmov d1, r2, r3 \n" + "vmov d2, r4, r5 \n" + "vmov d3, r6, r7 \n" + "vmov d4, r8, r9 \n" + "vmov d5, r10, r11 \n" + "vmov d6, r0, r1 \n" + "vmov d7, r2, r3 \n" + "vmov d8, r4, r5 \n" + "vmov d9, r6, r7 \n" + "vmov d10, r8, r9 \n" + "vmov d11, r10, r11 \n" + "vmov d12, r0, r1 \n" + "vmov d13, r2, r3 \n" + "vmov d14, r4, r5 \n" + "vmov d15, r6, r7 \n" + + "reg2_loop: \n" + + "/* Check all the VFP registers still contain the values set above. \n" + "First save registers that are clobbered by the test. */ \n" + "push { r0-r1 } \n" + + "vmov r0, r1, d0 \n" + "cmp r0, #-1 \n" + "bne reg2_error_loopf \n" + "cmp r1, #1 \n" + "bne reg2_error_loopf \n" + "vmov r0, r1, d1 \n" + "cmp r0, #2 \n" + "bne reg2_error_loopf \n" + "cmp r1, #3 \n" + "bne reg2_error_loopf \n" + "vmov r0, r1, d2 \n" + "cmp r0, #4 \n" + "bne reg2_error_loopf \n" + "cmp r1, #5 \n" + "bne reg2_error_loopf \n" + "vmov r0, r1, d3 \n" + "cmp r0, #6 \n" + "bne reg2_error_loopf \n" + "cmp r1, #7 \n" + "bne reg2_error_loopf \n" + "vmov r0, r1, d4 \n" + "cmp r0, #8 \n" + "bne reg2_error_loopf \n" + "cmp r1, #9 \n" + "bne reg2_error_loopf \n" + "vmov r0, r1, d5 \n" + "cmp r0, #10 \n" + "bne reg2_error_loopf \n" + "cmp r1, #11 \n" + "bne reg2_error_loopf \n" + "vmov r0, r1, d6 \n" + "cmp r0, #-1 \n" + "bne reg2_error_loopf \n" + "cmp r1, #1 \n" + "bne reg2_error_loopf \n" + "vmov r0, r1, d7 \n" + "cmp r0, #2 \n" + "bne reg2_error_loopf \n" + "cmp r1, #3 \n" + "bne reg2_error_loopf \n" + "vmov r0, r1, d8 \n" + "cmp r0, #4 \n" + "bne reg2_error_loopf \n" + "cmp r1, #5 \n" + "bne reg2_error_loopf \n" + "vmov r0, r1, d9 \n" + "cmp r0, #6 \n" + "bne reg2_error_loopf \n" + "cmp r1, #7 \n" + "bne reg2_error_loopf \n" + "vmov r0, r1, d10 \n" + "cmp r0, #8 \n" + "bne reg2_error_loopf \n" + "cmp r1, #9 \n" + "bne reg2_error_loopf \n" + "vmov r0, r1, d11 \n" + "cmp r0, #10 \n" + "bne reg2_error_loopf \n" + "cmp r1, #11 \n" + "bne reg2_error_loopf \n" + "vmov r0, r1, d12 \n" + "cmp r0, #-1 \n" + "bne reg2_error_loopf \n" + "cmp r1, #1 \n" + "bne reg2_error_loopf \n" + "vmov r0, r1, d13 \n" + "cmp r0, #2 \n" + "bne reg2_error_loopf \n" + "cmp r1, #3 \n" + "bne reg2_error_loopf \n" + "vmov r0, r1, d14 \n" + "cmp r0, #4 \n" + "bne reg2_error_loopf \n" + "cmp r1, #5 \n" + "bne reg2_error_loopf \n" + "vmov r0, r1, d15 \n" + "cmp r0, #6 \n" + "bne reg2_error_loopf \n" + "cmp r1, #7 \n" + "bne reg2_error_loopf \n" + + "/* Restore the registers that were clobbered by the test. */ \n" + "pop {r0-r1} \n" + + "/* VFP register test passed. Jump to the core register test. */ \n" + "b reg2_loopf_pass \n" + + "reg2_error_loopf: \n" + "/* If this line is hit then a VFP register value was found to be \n" + "incorrect. */ \n" + "b reg2_error_loopf \n" + + "reg2_loopf_pass: \n" + + "cmp r0, #-1 \n" + "bne reg2_error_loop \n" + "cmp r1, #1 \n" + "bne reg2_error_loop \n" + "cmp r2, #2 \n" + "bne reg2_error_loop \n" + "cmp r3, #3 \n" + "bne reg2_error_loop \n" + "cmp r4, #4 \n" + "bne reg2_error_loop \n" + "cmp r5, #5 \n" + "bne reg2_error_loop \n" + "cmp r6, #6 \n" + "bne reg2_error_loop \n" + "cmp r7, #7 \n" + "bne reg2_error_loop \n" + "cmp r8, #8 \n" + "bne reg2_error_loop \n" + "cmp r9, #9 \n" + "bne reg2_error_loop \n" + "cmp r10, #10 \n" + "bne reg2_error_loop \n" + "cmp r11, #11 \n" + "bne reg2_error_loop \n" + "cmp r12, #12 \n" + "bne reg2_error_loop \n" + + "/* Increment the loop counter to indicate this test is still functioning \n" + "correctly. */ \n" + "push { r0-r1 } \n" + "ldr r0, =ulRegTest2LoopCounter \n" + "ldr r1, [r0] \n" + "adds r1, r1, #1 \n" + "str r1, [r0] \n" + + "/* Yield to increase test coverage. */ \n" + "movs r0, #0x01 \n" + "ldr r1, =0xe000ed04 /*NVIC_INT_CTRL */ \n" + "lsl r0, r0, #28 /* Shift to PendSV bit */ \n" + "str r0, [r1] \n" + "dsb \n" + + "pop { r0-r1 } \n" + + "/* Start again. */ \n" + "b reg2_loop \n" + + "reg2_error_loop: \n" + "/* If this line is hit then there was an error in a core register value. \n" + "This loop ensures the loop counter variable stops incrementing. */ \n" + "b reg2_error_loop \n" + ); /* __asm volatile */ +} +/*-----------------------------------------------------------*/ + diff --git a/FreeRTOS/Demo/CORTEX_MPU_Simulator_Keil_GCC/GCC_Specific/sections.ld b/FreeRTOS/Demo/CORTEX_MPU_Simulator_Keil_GCC/GCC_Specific/sections.ld new file mode 100644 index 000000000..c7515cb47 --- /dev/null +++ b/FreeRTOS/Demo/CORTEX_MPU_Simulator_Keil_GCC/GCC_Specific/sections.ld @@ -0,0 +1,449 @@ +/* Default memory layout. */ +MEMORY +{ + ROM (rx) : ORIGIN = 0x00, LENGTH = 0x80000 + RAM (rw) : ORIGIN = 0x20000000, LENGTH = 0x8000 +} + +/* Variables required by FreeRTOS MPU. */ +_Privileged_Functions_Region_Size = 16K; +_Privileged_Data_Region_Size = 256; + +__FLASH_segment_start__ = ORIGIN( ROM ); +__FLASH_segment_end__ = __FLASH_segment_start__ + LENGTH( ROM ); + +__privileged_functions_start__ = ORIGIN( ROM ); +__privileged_functions_end__ = __privileged_functions_start__ + _Privileged_Functions_Region_Size; + +__SRAM_segment_start__ = ORIGIN( RAM ); +__SRAM_segment_end__ = __SRAM_segment_start__ + LENGTH( RAM ); + +__privileged_data_start__ = ORIGIN( RAM ); +__privileged_data_end__ = ORIGIN( RAM ) + _Privileged_Data_Region_Size; + +/* Variables used by FreeRTOS-MPU. */ +_Privileged_Functions_Region_Size = 16K; +_Privileged_Data_Region_Size = 256; + +__FLASH_segment_start__ = ORIGIN( ROM ); +__FLASH_segment_end__ = __FLASH_segment_start__ + LENGTH( ROM ); + +__privileged_functions_start__ = ORIGIN( ROM ); +__privileged_functions_end__ = __privileged_functions_start__ + _Privileged_Functions_Region_Size; + +__SRAM_segment_start__ = ORIGIN( RAM ); +__SRAM_segment_end__ = __SRAM_segment_start__ + LENGTH( RAM ); + +__privileged_data_start__ = ORIGIN( RAM ); +__privileged_data_end__ = ORIGIN( RAM ) + _Privileged_Data_Region_Size; + + +/* + * The '__stack' definition is required by crt0, do not remove it. + */ +/* Place top of stack immediate before ROM Log + *__stack = ORIGIN(RAM) + LENGTH(RAM); + */ +__stack = ORIGIN(RAM) + LENGTH(RAM); + +_estack = __stack; + +/* + * Default stack sizes. + * These are used by the startup in order to allocate stacks + * for the different modes. + */ + +__Main_Stack_Size = 2048 ; + +PROVIDE ( _Main_Stack_Size = __Main_Stack_Size ) ; + +__Main_Stack_Limit = __stack - __Main_Stack_Size ; + +/*"PROVIDE" allows to easily override these values from an object file or the command line. */ +PROVIDE ( _Main_Stack_Limit = __Main_Stack_Limit ) ; + +/* + * There will be a link error if there is not this amount of + * RAM free at the end. + */ +_Minimum_Stack_Size = 256 ; + +/* + * Default heap definitions. + * The heap start immediately after the last statically allocated + * .sbss/.noinit section, and extends up to the main stack limit. + */ +PROVIDE ( _Heap_Begin = _end_noinit ) ; +PROVIDE ( _Heap_Limit = __stack - __Main_Stack_Size ) ; + +/* + * The entry point is informative, for debuggers and simulators, + * since the Cortex-M vector points to it anyway. + */ +ENTRY(_start) + +/* Sections Definitions */ + +SECTIONS +{ + /* + * For Cortex-M devices, the beginning of the startup code is stored in + * the .isr_vector section, which goes to ROM + */ + privileged_functions : + { + . = ALIGN(4); + _isr_vector = .; + KEEP(*(.isr_vector)) + *(privileged_functions) + . = ALIGN(4); + } > ROM + + + + .text : + { + /* Non privileged code kept out of the first 16K or flash. */ + . = __privileged_functions_start__ + _Privileged_Functions_Region_Size; + + . = ALIGN(4); + + + /* + * This section is here for convenience, to store the + * startup code at the beginning of the flash area, hoping that + * this will increase the readability of the listing. + */ + KEEP(*(.after_vectors .after_vectors.*)) /* Startup code and ISR */ + + . = ALIGN(4); + + /* + * These are the old initialisation sections, intended to contain + * naked code, with the prologue/epilogue added by crti.o/crtn.o + * when linking with startup files. The standalone startup code + * currently does not run these, better use the init arrays below. + */ + KEEP(*(.init)) + KEEP(*(.fini)) + + . = ALIGN(4); + + /* + * The preinit code, i.e. an array of pointers to initialisation + * functions to be performed before constructors. + */ + PROVIDE_HIDDEN (__preinit_array_start = .); + + /* + * Used to run the SystemInit() before anything else. + */ + KEEP(*(.preinit_array_sysinit .preinit_array_sysinit.*)) + + /* + * Used for other platform inits. + */ + KEEP(*(.preinit_array_platform .preinit_array_platform.*)) + + /* + * The application inits. If you need to enforce some order in + * execution, create new sections, as before. + */ + KEEP(*(.preinit_array .preinit_array.*)) + + PROVIDE_HIDDEN (__preinit_array_end = .); + + . = ALIGN(4); + + /* + * The init code, i.e. an array of pointers to static constructors. + */ + PROVIDE_HIDDEN (__init_array_start = .); + KEEP(*(SORT(.init_array.*))) + KEEP(*(.init_array)) + PROVIDE_HIDDEN (__init_array_end = .); + + . = ALIGN(4); + + /* + * The fini code, i.e. an array of pointers to static destructors. + */ + PROVIDE_HIDDEN (__fini_array_start = .); + KEEP(*(SORT(.fini_array.*))) + KEEP(*(.fini_array)) + PROVIDE_HIDDEN (__fini_array_end = .); + . = ALIGN(4); + + . = ALIGN(4); + + *(.text*) /* all remaining code */ + + *(vtable) /* C++ virtual tables */ + + } >ROM + + .rodata : + { + *(.rodata*) /* read-only data (constants) */ + } >ROM + + .glue : + { + KEEP(*(.eh_frame*)) + + /* + * Stub sections generated by the linker, to glue together + * ARM and Thumb code. .glue_7 is used for ARM code calling + * Thumb code, and .glue_7t is used for Thumb code calling + * ARM code. Apparently always generated by the linker, for some + * architectures, so better leave them here. + */ + *(.glue_7) + *(.glue_7t) + } >ROM + + /* ARM magic sections */ + .ARM.extab : + { + *(.ARM.extab* .gnu.linkonce.armextab.*) + } > ROM + + __exidx_start = .; + .ARM.exidx : + { + *(.ARM.exidx* .gnu.linkonce.armexidx.*) + } > ROM + __exidx_end = .; + + . = ALIGN(4); + _etext = .; + __etext = .; + + /* + * This address is used by the startup code to + * initialise the .data section. + */ + _sidata = _etext; + + /* MEMORY_ARRAY */ + /* + .ROarraySection : + { + *(.ROarraySection .ROarraySection.*) + } >MEMORY_ARRAY + */ + + + privileged_data : + { + *(privileged_data) + /* Non kernel data is kept out of the first 256 bytes of SRAM. */ + } > RAM + + . = ORIGIN( RAM ) + _Privileged_Data_Region_Size; + + /* + * The initialised data section. + * The program executes knowing that the data is in the RAM + * but the loader puts the initial values in the ROM (inidata). + * It is one task of the startup to copy the initial values from + * ROM to RAM. + */ + .data : AT ( _sidata ) + { + . = ALIGN(4); + + /* This is used by the startup code to initialise the .data section */ + _sdata = . ; /* STM specific definition */ + __data_start__ = . ; + *(.data_begin .data_begin.*) + + *(.data .data.*) + + *(.data_end .data_end.*) + . = ALIGN(4); + + /* This is used by the startup code to initialise the .data section */ + _edata = . ; /* STM specific definition */ + __data_end__ = . ; + + } >RAM + + + /* + * The uninitialised data section. NOLOAD is used to avoid + * the "section `.bss' type changed to PROGBITS" warning + */ + .bss (NOLOAD) : + { + . = ALIGN(4); + __bss_start__ = .; /* standard newlib definition */ + _sbss = .; /* STM specific definition */ + *(.bss_begin .bss_begin.*) + + *(.bss .bss.*) + *(COMMON) + + *(.bss_end .bss_end.*) + . = ALIGN(4); + __bss_end__ = .; /* standard newlib definition */ + _ebss = . ; /* STM specific definition */ + } >RAM + + .noinit (NOLOAD) : + { + . = ALIGN(4); + _noinit = .; + + *(.noinit .noinit.*) + + . = ALIGN(4) ; + _end_noinit = .; + } > RAM + + /* Mandatory to be word aligned, _sbrk assumes this */ + PROVIDE ( end = _end_noinit ); /* was _ebss */ + PROVIDE ( _end = _end_noinit ); + PROVIDE ( __end = _end_noinit ); + PROVIDE ( __end__ = _end_noinit ); + PROVIDE ( ROM_DATA_START = __data_start__ ); + + /* + * Used for validation only, do not allocate anything here! + * + * This is just to check that there is enough RAM left for the Main + * stack. It should generate an error if it's full. + */ + ._check_stack : + { + . = ALIGN(4); + + . = . + _Minimum_Stack_Size ; + + . = ALIGN(4); + } >RAM + + ._check_rom_log : + { + . = ALIGN(4); + +/* . = . + __ROM_Log_Size ; */ + + . = ALIGN(4); + } >RAM + +/* + .bss_CCMRAM : ALIGN(4) + { + *(.bss.CCMRAM .bss.CCMRAM.*) + } > CCMRAM +*/ + /* + * The ROM Bank1. + * The C or assembly source must explicitly place the code + * or data there using the "section" attribute. + */ + + + /* remaining code */ + /* read-only data (constants) */ +/* + .b1text : + { + *(.b1text) + *(.b1rodata) + *(.b1rodata.*) + } >ROMB1 +*/ + /* + * The EXTMEM. + * The C or assembly source must explicitly place the code or data there + * using the "section" attribute. + */ + + /* EXTMEM Bank0 */ +/* + .eb0text : + { + *(.eb0text) + *(.eb0rodata) + *(.eb0rodata.*) + } >EXTMEMB0 +*/ + /* EXTMEM Bank1 */ +/* + .eb1text : + { + *(.eb1text) + *(.eb1rodata) + *(.eb1rodata.*) + } >EXTMEMB1 +*/ + /* EXTMEM Bank2 */ +/* + .eb2text : + { + *(.eb2text) + *(.eb2rodata) + *(.eb2rodata.*) + } >EXTMEMB2 +*/ + /* EXTMEM Bank0 */ +/* + .eb3text : + { + *(.eb3text) + *(.eb3rodata) + *(.eb3rodata.*) + } >EXTMEMB3 +*/ + + /* After that there are only debugging sections. */ + + /* This can remove the debugging information from the standard libraries */ + /* + DISCARD : + { + libc.a ( * ) + libm.a ( * ) + libgcc.a ( * ) + } + */ + + /* Stabs debugging sections. */ + .stab 0 : { *(.stab) } + .stabstr 0 : { *(.stabstr) } + .stab.excl 0 : { *(.stab.excl) } + .stab.exclstr 0 : { *(.stab.exclstr) } + .stab.index 0 : { *(.stab.index) } + .stab.indexstr 0 : { *(.stab.indexstr) } + .comment 0 : { *(.comment) } + /* + * DWARF debug sections. + * Symbols in the DWARF debugging sections are relative to the beginning + * of the section so we begin them at 0. + */ + /* DWARF 1 */ + .debug 0 : { *(.debug) } + .line 0 : { *(.line) } + /* GNU DWARF 1 extensions */ + .debug_srcinfo 0 : { *(.debug_srcinfo) } + .debug_sfnames 0 : { *(.debug_sfnames) } + /* DWARF 1.1 and DWARF 2 */ + .debug_aranges 0 : { *(.debug_aranges) } + .debug_pubnames 0 : { *(.debug_pubnames) } + /* DWARF 2 */ + .debug_info 0 : { *(.debug_info .gnu.linkonce.wi.*) } + .debug_abbrev 0 : { *(.debug_abbrev) } + .debug_line 0 : { *(.debug_line) } + .debug_frame 0 : { *(.debug_frame) } + .debug_str 0 : { *(.debug_str) } + .debug_loc 0 : { *(.debug_loc) } + .debug_macinfo 0 : { *(.debug_macinfo) } + /* SGI/MIPS DWARF 2 extensions */ + .debug_weaknames 0 : { *(.debug_weaknames) } + .debug_funcnames 0 : { *(.debug_funcnames) } + .debug_typenames 0 : { *(.debug_typenames) } + .debug_varnames 0 : { *(.debug_varnames) } +} diff --git a/FreeRTOS/Demo/CORTEX_MPU_Simulator_Keil_GCC/GCC_Specific/startup_ARMCM4.S b/FreeRTOS/Demo/CORTEX_MPU_Simulator_Keil_GCC/GCC_Specific/startup_ARMCM4.S new file mode 100644 index 000000000..fb2af495a --- /dev/null +++ b/FreeRTOS/Demo/CORTEX_MPU_Simulator_Keil_GCC/GCC_Specific/startup_ARMCM4.S @@ -0,0 +1,217 @@ +/* File: startup_ARMCM4.S + * Purpose: startup file for Cortex-M4 devices. Should use with + * GCC for ARM Embedded Processors + * Version: V2.0 + * Date: 16 August 2013 + * +/* Copyright (c) 2011 - 2013 ARM LIMITED + + All rights reserved. + Redistribution and use in source and binary forms, with or without + modification, are permitted provided that the following conditions are met: + - Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + - Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + - Neither the name of ARM nor the names of its contributors may be used + to endorse or promote products derived from this software without + specific prior written permission. + * + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + POSSIBILITY OF SUCH DAMAGE. + ---------------------------------------------------------------------------*/ + .syntax unified + .arch armv7e-m + + .extern __SRAM_segment_end__ + + .section .isr_vector + .align 4 + .globl __isr_vector +__isr_vector: + .long __SRAM_segment_end__ - 4 /* Top of Stack at top of RAM*/ + .long Reset_Handler /* Reset Handler */ + .long NMI_Handler /* NMI Handler */ + .long HardFault_Handler /* Hard Fault Handler */ + .long MemManage_Handler /* MPU Fault Handler */ + .long BusFault_Handler /* Bus Fault Handler */ + .long UsageFault_Handler /* Usage Fault Handler */ + .long 0 /* Reserved */ + .long 0 /* Reserved */ + .long 0 /* Reserved */ + .long 0 /* Reserved */ + .long SVC_Handler /* SVCall Handler */ + .long DebugMon_Handler /* Debug Monitor Handler */ + .long 0 /* Reserved */ + .long PendSV_Handler /* PendSV Handler */ + .long SysTick_Handler /* SysTick Handler */ + + /* External interrupts */ + .long DummyHandler + .long DummyHandler + .long DummyHandler + .long DummyHandler + .long DummyHandler + .long DummyHandler + .long DummyHandler + .long DummyHandler + .long DummyHandler + .long DummyHandler + .long DummyHandler + .long DummyHandler + .long DummyHandler + .long DummyHandler + .long DummyHandler + .long DummyHandler + .long DummyHandler + .long DummyHandler + .long DummyHandler + .long DummyHandler + .long DummyHandler + .long DummyHandler + .long DummyHandler + .long DummyHandler + .long DummyHandler + .long DummyHandler + .long DummyHandler + .long DummyHandler + .long DummyHandler + .long DummyHandler + .long DummyHandler + .long DummyHandler + .long DummyHandler + .long DummyHandler + .long DummyHandler + .long DummyHandler + .long DummyHandler + .long DummyHandler + .long DummyHandler + .long DummyHandler + .long DummyHandler + .long DummyHandler + .long DummyHandler + .long DummyHandler + .long DummyHandler + .long DummyHandler + .long DummyHandler + .long DummyHandler + .long DummyHandler + .long DummyHandler + .long DummyHandler + .long DummyHandler + + + .text + .thumb + .thumb_func + .align 2 + .globl _start + .extern main + .globl Reset_Handler + .type Reset_Handler, %function +_start: +Reset_Handler: +/* Firstly it copies data from read only memory to RAM. There are two schemes + * to copy. One can copy more than one sections. Another can only copy + * one section. The former scheme needs more instructions and read-only + * data to implement than the latter. + * Macro __STARTUP_COPY_MULTIPLE is used to choose between two schemes. */ + +/* Single section scheme. + * + * The ranges of copy from/to are specified by following symbols + * __etext: LMA of start of the section to copy from. Usually end of text + * __data_start__: VMA of start of the section to copy to + * __data_end__: VMA of end of the section to copy to + * + * All addresses must be aligned to 4 bytes boundary. + */ + ldr r1, =__etext + ldr r2, =__data_start__ + ldr r3, =__data_end__ + +.L_loop1: + cmp r2, r3 + ittt lt + ldrlt r0, [r1], #4 + strlt r0, [r2], #4 + blt .L_loop1 + +/* This part of work usually is done in C library startup code. Otherwise, + * define this macro to enable it in this startup. + * + * There are two schemes too. One can clear multiple BSS sections. Another + * can only clear one section. The former is more size expensive than the + * latter. + * + * Define macro __STARTUP_CLEAR_BSS_MULTIPLE to choose the former. + * Otherwise efine macro __STARTUP_CLEAR_BSS to choose the later. + */ + + /* Single BSS section scheme. + * + * The BSS section is specified by following symbols + * __bss_start__: start of the BSS section. + * __bss_end__: end of the BSS section. + * + * Both addresses must be aligned to 4 bytes boundary. + */ + ldr r1, =__bss_start__ + ldr r2, =__bss_end__ + + movs r0, 0 +.L_loop3: + cmp r1, r2 + itt lt + strlt r0, [r1], #4 + blt .L_loop3 + +#ifndef __NO_SYSTEM_INIT +/* bl SystemInit */ +#endif + + bl main + + .pool + .size Reset_Handler, . - Reset_Handler + + .align 1 + .thumb_func + .weak Default_Handler + .type Default_Handler, %function +Default_Handler: + b . + .size Default_Handler, . - Default_Handler + +/* Macro to define default handlers. Default handler + * will be weak symbol and just dead loops. They can be + * overwritten by other handlers */ + .macro def_irq_handler handler_name + .weak \handler_name + .set \handler_name, Default_Handler + .endm + + def_irq_handler NMI_Handler + def_irq_handler HardFault_Handler + def_irq_handler MemManage_Handler + def_irq_handler BusFault_Handler + def_irq_handler UsageFault_Handler + def_irq_handler SVC_Handler + def_irq_handler DebugMon_Handler + def_irq_handler PendSV_Handler + def_irq_handler SysTick_Handler + def_irq_handler DEF_IRQHandler + def_irq_handler DummyHandler + + + .end diff --git a/FreeRTOS/Demo/CORTEX_MPU_Simulator_Keil_GCC/main.c b/FreeRTOS/Demo/CORTEX_MPU_Simulator_Keil_GCC/main.c new file mode 100644 index 000000000..0c1e9465e --- /dev/null +++ b/FreeRTOS/Demo/CORTEX_MPU_Simulator_Keil_GCC/main.c @@ -0,0 +1,961 @@ +/* + FreeRTOS V9.0.0rc2 - Copyright (C) 2016 Real Time Engineers Ltd. + All rights reserved + + VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. + + This file is part of the FreeRTOS distribution. + + FreeRTOS is free software; you can redistribute it and/or modify it under + the terms of the GNU General Public License (version 2) as published by the + Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception. + + *************************************************************************** + >>! NOTE: The modification to the GPL is included to allow you to !<< + >>! distribute a combined work that includes FreeRTOS without being !<< + >>! obliged to provide the source code for proprietary components !<< + >>! outside of the FreeRTOS kernel. !<< + *************************************************************************** + + FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY + WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS + FOR A PARTICULAR PURPOSE. Full license text is available on the following + link: http://www.freertos.org/a00114.html + + *************************************************************************** + * * + * FreeRTOS provides completely free yet professionally developed, * + * robust, strictly quality controlled, supported, and cross * + * platform software that is more than just the market leader, it * + * is the industry's de facto standard. * + * * + * Help yourself get started quickly while simultaneously helping * + * to support the FreeRTOS project by purchasing a FreeRTOS * + * tutorial book, reference manual, or both: * + * http://www.FreeRTOS.org/Documentation * + * * + *************************************************************************** + + http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading + the FAQ page "My application does not run, what could be wrong?". Have you + defined configASSERT()? + + http://www.FreeRTOS.org/support - In return for receiving this top quality + embedded software for free we request you assist our global community by + participating in the support forum. + + http://www.FreeRTOS.org/training - Investing in training allows your team to + be as productive as possible as early as possible. Now you can receive + FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers + Ltd, and the world's leading authority on the world's leading RTOS. + + http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, + including FreeRTOS+Trace - an indispensable productivity tool, a DOS + compatible FAT file system, and our tiny thread aware UDP/IP stack. + + http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate. + Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS. + + http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High + Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS + licenses offer ticketed support, indemnification and commercial middleware. + + http://www.SafeRTOS.com - High Integrity Systems also provide a safety + engineered and independently SIL3 certified version for use in safety and + mission critical applications that require provable dependability. + + 1 tab == 4 spaces! +*/ + + +/* + * This file demonstrates the use of FreeRTOS-MPU. It creates tasks in both + * User mode and Privileged mode, and using both the original xTaskCreate() and + * the new xTaskCreateRestricted() API functions. The purpose of each created + * task is documented in the comments above the task function prototype (in + * this file), with the task behaviour demonstrated and documented within the + * task function itself. In addition a queue is used to demonstrate passing + * data between protected/restricted tasks as well as passing data between an + * interrupt and a protected/restricted task. + */ + +/* Standard includes. */ +#include "string.h" + +/* Scheduler includes. */ +#include "FreeRTOS.h" +#include "task.h" +#include "queue.h" +#include "semphr.h" + +/*-----------------------------------------------------------*/ + +/* Misc constants. */ +#define mainDONT_BLOCK ( 0 ) + +/* Definitions for the messages that can be sent to the check task. */ +#define mainREG_TEST_1_STILL_EXECUTING ( 0 ) +#define mainREG_TEST_2_STILL_EXECUTING ( 1 ) +#define mainPRINT_SYSTEM_STATUS ( 2 ) + +/* GCC specifics. */ +#define mainALIGN_TO( x ) __attribute__((aligned(x))) + +/* Hardware register addresses. */ +#define mainVTOR ( * ( volatile uint32_t * ) 0xE000ED08 ) +#define mainNVIC_AUX_ACTLR ( * ( volatile uint32_t * ) 0xE000E008 ) +#define mainEC_INTERRUPT_CONTROL ( * ( volatile uint32_t * ) 0x4000FC18 ) + +/*-----------------------------------------------------------*/ +/* Prototypes for functions that implement tasks. -----------*/ +/*-----------------------------------------------------------*/ + +/* + * Prototype for the reg test tasks. Amongst other things, these fill the CPU + * registers with known values before checking that the registers still contain + * the expected values. Each of the two tasks use different values so an error + * in the context switch mechanism can be caught. Both reg test tasks execute + * at the idle priority so will get preempted regularly. Each task repeatedly + * sends a message on a queue so long as it remains functioning correctly. If + * an error is detected within the task the task is simply deleted. + */ +static void prvRegTest1Task( void *pvParameters ); +static void prvRegTest2Task( void *pvParameters ); + +/* + * Prototype for the check task. The check task demonstrates various features + * of the MPU before entering a loop where it waits for messages to arrive on a + * queue. + * + * Two types of messages can be processes: + * + * 1) "I'm Alive" messages sent from the reg test tasks, indicating that the + * task is still operational. + * + * 2) "Print Status commands" sent periodically by the tick hook function (and + * therefore from within an interrupt) which command the check task to write + * either pass or fail to the terminal, depending on the status of the reg + * test tasks. + */ +static void prvCheckTask( void *pvParameters ); + +/* + * Prototype for a task created in User mode using the original vTaskCreate() + * API function. The task demonstrates the characteristics of such a task, + * before simply deleting itself. + */ +static void prvOldStyleUserModeTask( void *pvParameters ); + +/* + * Prototype for a task created in Privileged mode using the original + * vTaskCreate() API function. The task demonstrates the characteristics of + * such a task, before simply deleting itself. + */ +static void prvOldStylePrivilegedModeTask( void *pvParameters ); + + +/*-----------------------------------------------------------*/ +/* Prototypes for other misc functions. --------------------*/ +/*-----------------------------------------------------------*/ + +/* + * Just configures any clocks and IO necessary. + */ +static void prvSetupHardware( void ); + +/* + * Simply deletes the calling task. The function is provided only because it + * is simpler to call from asm code than the normal vTaskDelete() API function. + * It has the noinline attribute because it is called from asm code. + */ +static void prvDeleteMe( void ) __attribute__((noinline)); + +/* + * Used by both reg test tasks to send messages to the check task. The message + * just lets the check task know that the task is still functioning correctly. + * If a reg test task detects an error it will delete itself, and in so doing + * prevent itself from sending any more 'I'm Alive' messages to the check task. + */ +static void prvSendImAlive( QueueHandle_t xHandle, unsigned long ulTaskNumber ); + +/* + * The check task is created with access to three memory regions (plus its + * stack). Each memory region is configured with different parameters and + * prvTestMemoryRegions() demonstrates what can and cannot be accessed for each + * region. prvTestMemoryRegions() also demonstrates a task that was created + * as a privileged task settings its own privilege level down to that of a user + * task. + */ +static void prvTestMemoryRegions( void ); + +/*-----------------------------------------------------------*/ + +/* The handle of the queue used to communicate between tasks and between tasks +and interrupts. Note that this is a file scope variable that falls outside of +any MPU region. As such other techniques have to be used to allow the tasks +to gain access to the queue. See the comments in the tasks themselves for +further information. */ +static QueueHandle_t xFileScopeCheckQueue = NULL; + + +/*-----------------------------------------------------------*/ +/* Data used by the 'check' task. ---------------------------*/ +/*-----------------------------------------------------------*/ + +/* Define the constants used to allocate the check task stack. Note that the +stack size is defined in words, not bytes. */ +#define mainCHECK_TASK_STACK_SIZE_WORDS 128 +#define mainCHECK_TASK_STACK_ALIGNMENT ( mainCHECK_TASK_STACK_SIZE_WORDS * sizeof( portSTACK_TYPE ) ) + +/* Declare the stack that will be used by the check task. The kernel will + automatically create an MPU region for the stack. The stack alignment must + match its size, so if 128 words are reserved for the stack then it must be + aligned to ( 128 * 4 ) bytes. */ +static portSTACK_TYPE xCheckTaskStack[ mainCHECK_TASK_STACK_SIZE_WORDS ] mainALIGN_TO( mainCHECK_TASK_STACK_ALIGNMENT ); + +/* Declare three arrays - an MPU region will be created for each array +using the TaskParameters_t structure below. THIS IS JUST TO DEMONSTRATE THE +MPU FUNCTIONALITY, the data is not used by the check tasks primary function +of monitoring the reg test tasks and printing out status information. + +Note that the arrays allocate slightly more RAM than is actually assigned to +the MPU region. This is to permit writes off the end of the array to be +detected even when the arrays are placed in adjacent memory locations (with no +gaps between them). The align size must be a power of two. */ +#define mainREAD_WRITE_ARRAY_SIZE 130 +#define mainREAD_WRITE_ALIGN_SIZE 128 +char cReadWriteArray[ mainREAD_WRITE_ARRAY_SIZE ] mainALIGN_TO( mainREAD_WRITE_ALIGN_SIZE ); + +#define mainREAD_ONLY_ARRAY_SIZE 260 +#define mainREAD_ONLY_ALIGN_SIZE 256 +char cReadOnlyArray[ mainREAD_ONLY_ARRAY_SIZE ] mainALIGN_TO( mainREAD_ONLY_ALIGN_SIZE ); + +#define mainPRIVILEGED_ONLY_ACCESS_ARRAY_SIZE 130 +#define mainPRIVILEGED_ONLY_ACCESS_ALIGN_SIZE 128 +char cPrivilegedOnlyAccessArray[ mainPRIVILEGED_ONLY_ACCESS_ALIGN_SIZE ] mainALIGN_TO( mainPRIVILEGED_ONLY_ACCESS_ALIGN_SIZE ); + +/* Fill in a TaskParameters_t structure to define the check task - this is the +structure passed to the xTaskCreateRestricted() function. */ +static const TaskParameters_t xCheckTaskParameters = +{ + prvCheckTask, /* pvTaskCode - the function that implements the task. */ + "Check", /* pcName */ + mainCHECK_TASK_STACK_SIZE_WORDS, /* usStackDepth - defined in words, not bytes. */ + ( void * ) 0x12121212, /* pvParameters - this value is just to test that the parameter is being passed into the task correctly. */ + ( 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. */ + xCheckTaskStack, /* puxStackBuffer - the array to use as the task stack, as declared above. */ + + /* xRegions - In this case the xRegions array is used to create MPU regions + for all three of the arrays declared directly above. Each MPU region is + created with different parameters. Again, THIS IS JUST TO DEMONSTRATE THE + MPU FUNCTIONALITY, the data is not used by the check tasks primary function + of monitoring the reg test tasks and printing out status information.*/ + { + /* Base address Length Parameters */ + { cReadWriteArray, mainREAD_WRITE_ALIGN_SIZE, portMPU_REGION_READ_WRITE }, + { cReadOnlyArray, mainREAD_ONLY_ALIGN_SIZE, portMPU_REGION_READ_ONLY }, + { cPrivilegedOnlyAccessArray, mainPRIVILEGED_ONLY_ACCESS_ALIGN_SIZE, portMPU_REGION_PRIVILEGED_READ_WRITE } + } +}; + + + +/*-----------------------------------------------------------*/ +/* Data used by the 'reg test' tasks. -----------------------*/ +/*-----------------------------------------------------------*/ + +/* Define the constants used to allocate the reg test task stacks. Note that +that stack size is defined in words, not bytes. */ +#define mainREG_TEST_STACK_SIZE_WORDS 128 +#define mainREG_TEST_STACK_ALIGNMENT ( mainREG_TEST_STACK_SIZE_WORDS * sizeof( portSTACK_TYPE ) ) + +/* Declare the stacks that will be used by the reg test tasks. The kernel will +automatically create an MPU region for the stack. The stack alignment must +match its size, so if 128 words are reserved for the stack then it must be +aligned to ( 128 * 4 ) bytes. */ +static portSTACK_TYPE xRegTest1Stack[ mainREG_TEST_STACK_SIZE_WORDS ] mainALIGN_TO( mainREG_TEST_STACK_ALIGNMENT ); +static portSTACK_TYPE xRegTest2Stack[ mainREG_TEST_STACK_SIZE_WORDS ] mainALIGN_TO( mainREG_TEST_STACK_ALIGNMENT ); + +/* Fill in a TaskParameters_t structure per reg test task to define the tasks. */ +static const TaskParameters_t xRegTest1Parameters = +{ + prvRegTest1Task, /* pvTaskCode - the function that implements the task. */ + "RegTest1", /* pcName */ + mainREG_TEST_STACK_SIZE_WORDS, /* usStackDepth */ + ( void * ) 0x12345678, /* pvParameters - this value is just to test that the parameter is being passed into the task correctly. */ + 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. */ + xRegTest1Stack, /* puxStackBuffer - the array to use as the task stack, as declared above. */ + { /* xRegions - this task does not use any non-stack data hence all members are zero. */ + /* Base address Length Parameters */ + { 0x00, 0x00, 0x00 }, + { 0x00, 0x00, 0x00 }, + { 0x00, 0x00, 0x00 } + } +}; +/*-----------------------------------------------------------*/ + +static TaskParameters_t xRegTest2Parameters = +{ + prvRegTest2Task, /* pvTaskCode - the function that implements the task. */ + "RegTest2", /* pcName */ + mainREG_TEST_STACK_SIZE_WORDS, /* usStackDepth */ + ( void * ) NULL, /* pvParameters - this task uses the parameter to pass in a queue handle, but the queue is not created yet. */ + tskIDLE_PRIORITY, /* uxPriority */ + xRegTest2Stack, /* puxStackBuffer - the array to use as the task stack, as declared above. */ + { /* xRegions - this task does not use any non-stack data hence all members are zero. */ + /* Base address Length Parameters */ + { 0x00, 0x00, 0x00 }, + { 0x00, 0x00, 0x00 }, + { 0x00, 0x00, 0x00 } + } +}; + +/*-----------------------------------------------------------*/ + +int main( void ) +{ + prvSetupHardware(); + + /* Create the queue used to pass "I'm alive" messages to the check task. */ + xFileScopeCheckQueue = xQueueCreate( 1, sizeof( unsigned long ) ); + + /* One check task uses the task parameter to receive the queue handle. + This allows the file scope variable to be accessed from within the task. + The pvParameters member of xRegTest2Parameters can only be set after the + queue has been created so is set here. */ + xRegTest2Parameters.pvParameters = xFileScopeCheckQueue; + + /* Create the three test tasks. Handles to the created tasks are not + required, hence the second parameter is NULL. */ + xTaskCreateRestricted( &xRegTest1Parameters, NULL ); + xTaskCreateRestricted( &xRegTest2Parameters, NULL ); + xTaskCreateRestricted( &xCheckTaskParameters, NULL ); + + /* Create the tasks that are created using the original xTaskCreate() API + function. */ + xTaskCreate( prvOldStyleUserModeTask, /* The function that implements the task. */ + "Task1", /* Text name for the task. */ + 100, /* Stack depth in words. */ + NULL, /* Task parameters. */ + 3, /* Priority and mode (user in this case). */ + NULL /* Handle. */ + ); + + xTaskCreate( prvOldStylePrivilegedModeTask, /* The function that implements the task. */ + "Task2", /* Text name for the task. */ + 100, /* Stack depth in words. */ + NULL, /* Task parameters. */ + ( 3 | portPRIVILEGE_BIT ), /* Priority and mode. */ + NULL /* Handle. */ + ); + + /* Start the scheduler. */ + vTaskStartScheduler(); + + /* Will only get here if there was insufficient memory to create the idle + task. */ + for( ;; ); + return 0; +} +/*-----------------------------------------------------------*/ + +static void prvCheckTask( void *pvParameters ) +{ +/* This task is created in privileged mode so can access the file scope +queue variable. Take a stack copy of this before the task is set into user +mode. Once that task is in user mode the file scope queue variable will no +longer be accessible but the stack copy will. */ +QueueHandle_t xQueue = xFileScopeCheckQueue; +long lMessage; +unsigned long ulStillAliveCounts[ 2 ] = { 0 }; +const char *pcStatusMessage = "PASS\r\n"; + + + /* Just to remove compiler warning. */ + ( void ) pvParameters; + + /* Demonstrate how the various memory regions can and can't be accessed. + The task privilege level is set down to user mode within this function. */ + prvTestMemoryRegions(); + + /* Tests are done so lower the privilege status. */ + portSWITCH_TO_USER_MODE(); + + /* This loop performs the main function of the task, which is blocking + on a message queue then processing each message as it arrives. */ + for( ;; ) + { + /* Wait for the next message to arrive. */ + xQueueReceive( xQueue, &lMessage, portMAX_DELAY ); + + switch( lMessage ) + { + case mainREG_TEST_1_STILL_EXECUTING : + /* Message from task 1, so task 1 must still be executing. */ + ( ulStillAliveCounts[ 0 ] )++; + break; + + case mainREG_TEST_2_STILL_EXECUTING : + /* Message from task 2, so task 2 must still be executing. */ + ( ulStillAliveCounts[ 1 ] )++; + break; + + case mainPRINT_SYSTEM_STATUS : + /* Message from tick hook, time to print out the system + status. If messages has stopped arriving from either reg + test task then the status must be set to fail. */ + if( ( ulStillAliveCounts[ 0 ] == 0 ) || ( ulStillAliveCounts[ 1 ] == 0 ) ) + { + /* One or both of the test tasks are no longer sending + 'still alive' messages. */ + pcStatusMessage = "FAIL\r\n"; + } + + /* Print a pass/fail message to the terminal. This will be + visible in the CrossWorks IDE. */ +// MPU_debug_printf( pcStatusMessage ); +( void ) pcStatusMessage; + + /* Reset the count of 'still alive' messages. */ + memset( ulStillAliveCounts, 0x00, sizeof( ulStillAliveCounts ) ); + break; + + default : + /* Something unexpected happened. Delete this task so the + error is apparent (no output will be displayed). */ + prvDeleteMe(); + break; + } + } +} +/*-----------------------------------------------------------*/ + +static void prvTestMemoryRegions( void ) +{ +long l; +char cTemp; + + /* The check task (from which this function is called) is created in the + Privileged mode. The privileged array can be both read from and written + to while this task is privileged. */ + cPrivilegedOnlyAccessArray[ 0 ] = 'a'; + if( cPrivilegedOnlyAccessArray[ 0 ] != 'a' ) + { + /* Something unexpected happened. Delete this task so the error is + apparent (no output will be displayed). */ + prvDeleteMe(); + } + + /* Writing off the end of the RAM allocated to this task will *NOT* cause a + protection fault because the task is still executing in a privileged mode. + Uncomment the following to test. */ + /*cPrivilegedOnlyAccessArray[ mainPRIVILEGED_ONLY_ACCESS_ALIGN_SIZE ] = 'a';*/ + + /* Now set the task into user mode. */ + portSWITCH_TO_USER_MODE(); + + /* Accessing the privileged only array will now cause a fault. Uncomment + the following line to test. */ + /*cPrivilegedOnlyAccessArray[ 0 ] = 'a';*/ + + /* The read/write array can still be successfully read and written. */ + for( l = 0; l < mainREAD_WRITE_ALIGN_SIZE; l++ ) + { + cReadWriteArray[ l ] = 'a'; + if( cReadWriteArray[ l ] != 'a' ) + { + /* Something unexpected happened. Delete this task so the error is + apparent (no output will be displayed). */ + prvDeleteMe(); + } + } + + /* But attempting to read or write off the end of the RAM allocated to this + task will cause a fault. Uncomment either of the following two lines to + test. */ + /* cReadWriteArray[ 0 ] = cReadWriteArray[ -1 ]; */ + /* cReadWriteArray[ mainREAD_WRITE_ALIGN_SIZE ] = 0x00; */ + + /* The read only array can be successfully read... */ + for( l = 0; l < mainREAD_ONLY_ALIGN_SIZE; l++ ) + { + cTemp = cReadOnlyArray[ l ]; + } + + /* ...but cannot be written. Uncomment the following line to test. */ + /* cReadOnlyArray[ 0 ] = 'a'; */ + + /* Writing to the first and last locations in the stack array should not + cause a protection fault. Note that doing this will cause the kernel to + detect a stack overflow if configCHECK_FOR_STACK_OVERFLOW is greater than + 1, hence the test is commented out by default. */ + /* xCheckTaskStack[ 0 ] = 0; + xCheckTaskStack[ mainCHECK_TASK_STACK_SIZE_WORDS - 1 ] = 0; */ + + /* Writing off either end of the stack array should cause a protection + fault, uncomment either of the following two lines to test. */ + /* xCheckTaskStack[ -1 ] = 0; */ + /* xCheckTaskStack[ mainCHECK_TASK_STACK_SIZE_WORDS ] = 0; */ + + ( void ) cTemp; +} +/*-----------------------------------------------------------*/ + +static void prvRegTest1Task( void *pvParameters ) +{ +/* This task is created in privileged mode so can access the file scope +queue variable. Take a stack copy of this before the task is set into user +mode. Once this task is in user mode the file scope queue variable will no +longer be accessible but the stack copy will. */ +QueueHandle_t xQueue = xFileScopeCheckQueue; + + /* Now the queue handle has been obtained the task can switch to user + mode. This is just one method of passing a handle into a protected + task, the other reg test task uses the task parameter instead. */ + portSWITCH_TO_USER_MODE(); + + /* First check that the parameter value is as expected. */ + if( pvParameters != ( void * ) 0x12345678 ) + { + /* Error detected. Delete the task so it stops communicating with + the check task. */ + prvDeleteMe(); + } + + + for( ;; ) + { + /* This task tests the kernel context switch mechanism by reading and + writing directly to registers - which requires the test to be written + in assembly code. */ + __asm volatile + ( + " MOV R4, #104 \n" /* Set registers to a known value. R0 to R1 are done in the loop below. */ + " MOV R5, #105 \n" + " MOV R6, #106 \n" + " MOV R8, #108 \n" + " MOV R9, #109 \n" + " MOV R10, #110 \n" + " MOV R11, #111 \n" + "reg1loop: \n" + " MOV R0, #100 \n" /* Set the scratch registers to known values - done inside the loop as they get clobbered. */ + " MOV R1, #101 \n" + " MOV R2, #102 \n" + " MOV R3, #103 \n" + " MOV R12, #112 \n" + " SVC #1 \n" /* Yield just to increase test coverage. */ + " CMP R0, #100 \n" /* Check all the registers still contain their expected values. */ + " BNE prvDeleteMe \n" /* Value was not as expected, delete the task so it stops communicating with the check task. */ + " CMP R1, #101 \n" + " BNE prvDeleteMe \n" + " CMP R2, #102 \n" + " BNE prvDeleteMe \n" + " CMP R3, #103 \n" + " BNE prvDeleteMe \n" + " CMP R4, #104 \n" + " BNE prvDeleteMe \n" + " CMP R5, #105 \n" + " BNE prvDeleteMe \n" + " CMP R6, #106 \n" + " BNE prvDeleteMe \n" + " CMP R8, #108 \n" + " BNE prvDeleteMe \n" + " CMP R9, #109 \n" + " BNE prvDeleteMe \n" + " CMP R10, #110 \n" + " BNE prvDeleteMe \n" + " CMP R11, #111 \n" + " BNE prvDeleteMe \n" + " CMP R12, #112 \n" + " BNE prvDeleteMe \n" + :::"r0", "r1", "r2", "r3", "r4", "r5", "r6", "r8", "r9", "r10", "r11", "r12" + ); + + /* Send mainREG_TEST_1_STILL_EXECUTING to the check task to indicate that this + task is still functioning. */ + prvSendImAlive( xQueue, mainREG_TEST_1_STILL_EXECUTING ); + + /* Go back to check all the register values again. */ + __asm volatile( " B reg1loop " ); + } +} +/*-----------------------------------------------------------*/ + +static void prvRegTest2Task( void *pvParameters ) +{ +/* The queue handle is passed in as the task parameter. This is one method of +passing data into a protected task, the other reg test task uses a different +method. */ +QueueHandle_t xQueue = ( QueueHandle_t ) pvParameters; + + for( ;; ) + { + /* This task tests the kernel context switch mechanism by reading and + writing directly to registers - which requires the test to be written + in assembly code. */ + __asm volatile + ( + " MOV R4, #4 \n" /* Set registers to a known value. R0 to R1 are done in the loop below. */ + " MOV R5, #5 \n" + " MOV R6, #6 \n" + " MOV R8, #8 \n" /* Frame pointer is omitted as it must not be changed. */ + " MOV R9, #9 \n" + " MOV R10, 10 \n" + " MOV R11, #11 \n" + "reg2loop: \n" + " MOV R0, #13 \n" /* Set the scratch registers to known values - done inside the loop as they get clobbered. */ + " MOV R1, #1 \n" + " MOV R2, #2 \n" + " MOV R3, #3 \n" + " MOV R12, #12 \n" + " CMP R0, #13 \n" /* Check all the registers still contain their expected values. */ + " BNE prvDeleteMe \n" /* Value was not as expected, delete the task so it stops communicating with the check task */ + " CMP R1, #1 \n" + " BNE prvDeleteMe \n" + " CMP R2, #2 \n" + " BNE prvDeleteMe \n" + " CMP R3, #3 \n" + " BNE prvDeleteMe \n" + " CMP R4, #4 \n" + " BNE prvDeleteMe \n" + " CMP R5, #5 \n" + " BNE prvDeleteMe \n" + " CMP R6, #6 \n" + " BNE prvDeleteMe \n" + " CMP R8, #8 \n" + " BNE prvDeleteMe \n" + " CMP R9, #9 \n" + " BNE prvDeleteMe \n" + " CMP R10, #10 \n" + " BNE prvDeleteMe \n" + " CMP R11, #11 \n" + " BNE prvDeleteMe \n" + " CMP R12, #12 \n" + " BNE prvDeleteMe \n" + :::"r0", "r1", "r2", "r3", "r4", "r5", "r6", "r8", "r9", "r10", "r11", "r12" + ); + + /* Send mainREG_TEST_2_STILL_EXECUTING to the check task to indicate that this + task is still functioning. */ + prvSendImAlive( xQueue, mainREG_TEST_2_STILL_EXECUTING ); + + /* Go back to check all the register values again. */ + __asm volatile( " B reg2loop " ); + } +} +/*-----------------------------------------------------------*/ + +void vApplicationIdleHook( void ) +{ +extern unsigned long __SRAM_segment_end__[]; +extern unsigned long __privileged_data_start__[]; +extern unsigned long __privileged_data_end__[]; +extern unsigned long __FLASH_segment_start__[]; +extern unsigned long __FLASH_segment_end__[]; +volatile unsigned long *pul; +volatile unsigned long ulReadData; + + /* The idle task, and therefore this function, run in Supervisor mode and + can therefore access all memory. Try reading from corners of flash and + RAM to ensure a memory fault does not occur. + + Start with the edges of the privileged data area. */ + pul = __privileged_data_start__; + ulReadData = *pul; + pul = __privileged_data_end__ - 1; + ulReadData = *pul; + + /* Next the standard SRAM area. */ + pul = __SRAM_segment_end__ - 1; + ulReadData = *pul; + + /* And the standard Flash area - the start of which is marked for + privileged access only. */ + pul = __FLASH_segment_start__; + ulReadData = *pul; + pul = __FLASH_segment_end__ - 1; + ulReadData = *pul; + + /* Reading off the end of Flash or SRAM space should cause a fault. + Uncomment one of the following two pairs of lines to test. */ + + /* pul = __FLASH_segment_end__ + 4; + ulReadData = *pul; */ + + /* pul = __SRAM_segment_end__ + 1; + ulReadData = *pul; */ + + ( void ) ulReadData; +} +/*-----------------------------------------------------------*/ + +static void prvOldStyleUserModeTask( void *pvParameters ) +{ +extern unsigned long __privileged_data_start__[]; +extern unsigned long __privileged_data_end__[]; +extern unsigned long __SRAM_segment_end__[]; +extern unsigned long __privileged_functions_end__[]; +extern unsigned long __FLASH_segment_start__[]; +extern unsigned long __FLASH_segment_end__[]; +//const volatile unsigned long *pulStandardPeripheralRegister = ( volatile unsigned long * ) 0x400FC0C4; +volatile unsigned long *pul; +volatile unsigned long ulReadData; + +/* The following lines are commented out to prevent the unused variable +compiler warnings when the tests that use the variable are also commented out. +extern unsigned long __privileged_functions_start__[]; +const volatile unsigned long *pulSystemPeripheralRegister = ( volatile unsigned long * ) 0xe000e014; */ + + ( void ) pvParameters; + + /* This task is created in User mode using the original xTaskCreate() API + function. It should have access to all Flash and RAM except that marked + as Privileged access only. Reading from the start and end of the non- + privileged RAM should not cause a problem (the privileged RAM is the first + block at the bottom of the RAM memory). */ + pul = __privileged_data_end__ + 1; + ulReadData = *pul; + pul = __SRAM_segment_end__ - 1; + ulReadData = *pul; + + /* Likewise reading from the start and end of the non-privileged Flash + should not be a problem (the privileged Flash is the first block at the + bottom of the Flash memory). */ + pul = __privileged_functions_end__ + 1; + ulReadData = *pul; + pul = __FLASH_segment_end__ - 1; + ulReadData = *pul; + + /* Standard peripherals are accessible. */ +// ulReadData = *pulStandardPeripheralRegister; + + /* System peripherals are not accessible. Uncomment the following line + to test. Also uncomment the declaration of pulSystemPeripheralRegister + at the top of this function. */ + /* ulReadData = *pulSystemPeripheralRegister; */ + + /* Reading from anywhere inside the privileged Flash or RAM should cause a + fault. This can be tested by uncommenting any of the following pairs of + lines. Also uncomment the declaration of __privileged_functions_start__ + at the top of this function. */ + + /* pul = __privileged_functions_start__; + ulReadData = *pul; */ + + /* pul = __privileged_functions_end__ - 1; + ulReadData = *pul; */ + + /* pul = __privileged_data_start__; + ulReadData = *pul; */ + + /* pul = __privileged_data_end__ - 1; + ulReadData = *pul; */ + + /* Must not just run off the end of a task function, so delete this task. + Note that because this task was created using xTaskCreate() the stack was + allocated dynamically and I have not included any code to free it again. */ + vTaskDelete( NULL ); + + ( void ) ulReadData; +} +/*-----------------------------------------------------------*/ + +static void prvOldStylePrivilegedModeTask( void *pvParameters ) +{ +extern unsigned long __privileged_data_start__[]; +extern unsigned long __privileged_data_end__[]; +extern unsigned long __SRAM_segment_end__[]; +extern unsigned long __privileged_functions_start__[]; +extern unsigned long __privileged_functions_end__[]; +extern unsigned long __FLASH_segment_start__[]; +extern unsigned long __FLASH_segment_end__[]; +volatile unsigned long *pul; +volatile unsigned long ulReadData; +const volatile unsigned long *pulSystemPeripheralRegister = ( volatile unsigned long * ) 0xe000e014; /* Systick */ +//const volatile unsigned long *pulStandardPeripheralRegister = ( volatile unsigned long * ) 0x400FC0C4; + + ( void ) pvParameters; + + /* This task is created in Privileged mode using the original xTaskCreate() + API function. It should have access to all Flash and RAM including that + marked as Privileged access only. So reading from the start and end of the + non-privileged RAM should not cause a problem (the privileged RAM is the + first block at the bottom of the RAM memory). */ + pul = __privileged_data_end__ + 1; + ulReadData = *pul; + pul = __SRAM_segment_end__ - 1; + ulReadData = *pul; + + /* Likewise reading from the start and end of the non-privileged Flash + should not be a problem (the privileged Flash is the first block at the + bottom of the Flash memory). */ + pul = __privileged_functions_end__ + 1; + ulReadData = *pul; + pul = __FLASH_segment_end__ - 1; + ulReadData = *pul; + + /* Reading from anywhere inside the privileged Flash or RAM should also + not be a problem. */ + pul = __privileged_functions_start__; + ulReadData = *pul; + pul = __privileged_functions_end__ - 1; + ulReadData = *pul; + pul = __privileged_data_start__; + ulReadData = *pul; + pul = __privileged_data_end__ - 1; + ulReadData = *pul; + + /* Finally, accessing both System and normal peripherals should both be + possible. */ + ulReadData = *pulSystemPeripheralRegister; +// ulReadData = *pulStandardPeripheralRegister; + + /* Must not just run off the end of a task function, so delete this task. + Note that because this task was created using xTaskCreate() the stack was + allocated dynamically and I have not included any code to free it again. */ + vTaskDelete( NULL ); + + ( void ) ulReadData; +} +/*-----------------------------------------------------------*/ + +static void prvDeleteMe( void ) +{ + vTaskDelete( NULL ); +} +/*-----------------------------------------------------------*/ + +static void prvSendImAlive( QueueHandle_t xHandle, unsigned long ulTaskNumber ) +{ + if( xHandle != NULL ) + { + xQueueSend( xHandle, &ulTaskNumber, mainDONT_BLOCK ); + } +} +/*-----------------------------------------------------------*/ + +static void prvSetupHardware( void ) +{ +} +/*-----------------------------------------------------------*/ + +void vApplicationTickHook( void ) +{ +static unsigned long ulCallCount; +const unsigned long ulCallsBetweenSends = 5000 / portTICK_PERIOD_MS; +const unsigned long ulMessage = mainPRINT_SYSTEM_STATUS; +portBASE_TYPE xDummy; + + /* If configUSE_TICK_HOOK is set to 1 then this function will get called + from each RTOS tick. It is called from the tick interrupt and therefore + will be executing in the privileged state. */ + + ulCallCount++; + + /* Is it time to print out the pass/fail message again? */ + if( ulCallCount >= ulCallsBetweenSends ) + { + ulCallCount = 0; + + /* Send a message to the check task to command it to check that all + the tasks are still running then print out the status. + + This is running in an ISR so has to use the "FromISR" version of + xQueueSend(). Because it is in an ISR it is running with privileges + so can access xFileScopeCheckQueue directly. */ + xQueueSendFromISR( xFileScopeCheckQueue, &ulMessage, &xDummy ); + } +} +/*-----------------------------------------------------------*/ + +void vApplicationStackOverflowHook( TaskHandle_t pxTask, char *pcTaskName ) +{ + /* If configCHECK_FOR_STACK_OVERFLOW is set to either 1 or 2 then this + function will automatically get called if a task overflows its stack. */ + ( void ) pxTask; + ( void ) pcTaskName; + for( ;; ); +} +/*-----------------------------------------------------------*/ + +void vApplicationMallocFailedHook( void ) +{ + /* If configUSE_MALLOC_FAILED_HOOK is set to 1 then this function will + be called automatically if a call to pvPortMalloc() fails. pvPortMalloc() + is called automatically when a task, queue or semaphore is created. */ + for( ;; ); +} +/*-----------------------------------------------------------*/ + +void hard_fault_handler(unsigned int * hardfault_args) +{ +volatile unsigned int stacked_r0; +volatile unsigned int stacked_r1; +volatile unsigned int stacked_r2; +volatile unsigned int stacked_r3; +volatile unsigned int stacked_r12; +volatile unsigned int stacked_lr; +volatile unsigned int stacked_pc; +volatile unsigned int stacked_psr; + + stacked_r0 = ((unsigned long) hardfault_args[0]); + stacked_r1 = ((unsigned long) hardfault_args[1]); + stacked_r2 = ((unsigned long) hardfault_args[2]); + stacked_r3 = ((unsigned long) hardfault_args[3]); + + stacked_r12 = ((unsigned long) hardfault_args[4]); + stacked_lr = ((unsigned long) hardfault_args[5]); + stacked_pc = ((unsigned long) hardfault_args[6]); + stacked_psr = ((unsigned long) hardfault_args[7]); + + /* Inspect stacked_pc to locate the offending instruction. */ + for( ;; ); + + ( void ) stacked_psr; + ( void ) stacked_pc; + ( void ) stacked_lr; + ( void ) stacked_r12; + ( void ) stacked_r0; + ( void ) stacked_r1; + ( void ) stacked_r2; + ( void ) stacked_r3; +} +/*-----------------------------------------------------------*/ + +void HardFault_Handler( void ) __attribute__((naked)); +void HardFault_Handler( void ) +{ + __asm volatile + ( + " tst lr, #4 \n" + " ite eq \n" + " mrseq r0, msp \n" + " mrsne r0, psp \n" + " ldr r1, [r0, #24] \n" + " ldr r2, handler_address_const \n" + " bx r2 \n" + " handler_address_const: .word hard_fault_handler \n" + ); +} +/*-----------------------------------------------------------*/ + +void MPU_Fault_ISR( void ) __attribute__((naked)); +void MemManage_Handler( void ) +{ + __asm volatile + ( + " tst lr, #4 \n" + " ite eq \n" + " mrseq r0, msp \n" + " mrsne r0, psp \n" + " ldr r1, [r0, #24] \n" + " ldr r2, handler2_address_const \n" + " bx r2 \n" + " handler2_address_const: .word hard_fault_handler \n" + ); +} + +/*-----------------------------------------------------------*/ + +#warning Why must configSUPPORT_STATIC_ALLOCATION be set to 1 when the MPU is used? +#warning Linker script is crippled for use with the simulator. \ No newline at end of file diff --git a/FreeRTOS/Source/include/FreeRTOS.h b/FreeRTOS/Source/include/FreeRTOS.h index a902a34ac..e52a8979b 100644 --- a/FreeRTOS/Source/include/FreeRTOS.h +++ b/FreeRTOS/Source/include/FreeRTOS.h @@ -784,10 +784,6 @@ extern "C" { #endif /* INCLUDE_vTaskSuspend */ #endif /* configUSE_TICKLESS_IDLE */ -#if( ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_STATIC_ALLOCATION != 1 ) ) - #error configSUPPORT_STATIC_ALLOCATION must be set to 1 in FreeRTOSConfig.h when the MPU is used. -#endif - #if( ( configSUPPORT_STATIC_ALLOCATION == 0 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 0 ) ) #error configSUPPORT_STATIC_ALLOCATION and configSUPPORT_DYNAMIC_ALLOCATION cannot both be 0, but can both be 1. #endif diff --git a/FreeRTOS/Source/include/mpu_wrappers.h b/FreeRTOS/Source/include/mpu_wrappers.h index d54438ab8..b70f60543 100644 --- a/FreeRTOS/Source/include/mpu_wrappers.h +++ b/FreeRTOS/Source/include/mpu_wrappers.h @@ -79,7 +79,8 @@ only for ports that are using the MPU. */ those files. */ #ifndef MPU_WRAPPERS_INCLUDED_FROM_API_FILE - #define xTaskGenericCreate MPU_xTaskGenericCreate + #define xTaskCreate MPU_xTaskCreate + #define xTaskCreateRestricted MPU_xTaskCreateRestricted #define vTaskAllocateMPURegions MPU_vTaskAllocateMPURegions #define vTaskDelete MPU_vTaskDelete #define vTaskDelayUntil MPU_vTaskDelayUntil diff --git a/FreeRTOS/Source/include/task.h b/FreeRTOS/Source/include/task.h index c4bc0838d..ee57e4cd1 100644 --- a/FreeRTOS/Source/include/task.h +++ b/FreeRTOS/Source/include/task.h @@ -357,7 +357,12 @@ is used in assert() statements. */ * \ingroup Tasks */ #if( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) - BaseType_t xTaskCreate( TaskFunction_t pxTaskCode, const char * const pcName, const uint16_t usStackDepth, void * const pvParameters, UBaseType_t uxPriority, TaskHandle_t * const pxCreatedTask ) PRIVILEGED_FUNCTION; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */ + BaseType_t xTaskCreate( TaskFunction_t pxTaskCode, + const char * const pcName, + const uint16_t usStackDepth, + void * const pvParameters, + UBaseType_t uxPriority, + TaskHandle_t * const pxCreatedTask ) PRIVILEGED_FUNCTION; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */ #endif /** @@ -468,7 +473,13 @@ is used in assert() statements. */ * \ingroup Tasks */ #if( configSUPPORT_STATIC_ALLOCATION == 1 ) - TaskHandle_t xTaskCreateStatic( TaskFunction_t pxTaskCode, const char * const pcName, const uint32_t ulStackDepth, void * const pvParameters, UBaseType_t uxPriority, StackType_t * const puxStackBuffer, StaticTask_t * const pxTaskBuffer ) PRIVILEGED_FUNCTION; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */ + TaskHandle_t xTaskCreateStatic( TaskFunction_t pxTaskCode, + const char * const pcName, + const uint32_t ulStackDepth, + void * const pvParameters, + UBaseType_t uxPriority, + StackType_t * const puxStackBuffer, + StaticTask_t * const pxTaskBuffer ) PRIVILEGED_FUNCTION; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */ #endif /* configSUPPORT_STATIC_ALLOCATION */ /** @@ -538,7 +549,9 @@ TaskHandle_t xHandle; * \defgroup xTaskCreateRestricted xTaskCreateRestricted * \ingroup Tasks */ -#define xTaskCreateRestricted( x, pxCreatedTask ) xTaskGenericCreate( ((x)->pvTaskCode), ((x)->pcName), ((x)->usStackDepth), ((x)->pvParameters), ((x)->uxPriority), (pxCreatedTask), ((x)->puxStackBuffer), ( NULL ), ((x)->xRegions) ) +#if( portUSING_MPU_WRAPPERS == 1 ) + BaseType_t xTaskCreateRestricted( const TaskParameters_t * const pxTaskDefinition, TaskHandle_t *pxCreatedTask ) PRIVILEGED_FUNCTION; +#endif /** * task. h diff --git a/FreeRTOS/Source/include/timers.h b/FreeRTOS/Source/include/timers.h index 0a3d8c5a2..4fc54cb4b 100644 --- a/FreeRTOS/Source/include/timers.h +++ b/FreeRTOS/Source/include/timers.h @@ -266,7 +266,11 @@ typedef void (*PendedFunction_t)( void *, uint32_t ); * @endverbatim */ #if( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) - TimerHandle_t xTimerCreate( const char * const pcTimerName, const TickType_t xTimerPeriodInTicks, const UBaseType_t uxAutoReload, void * const pvTimerID, TimerCallbackFunction_t pxCallbackFunction ) PRIVILEGED_FUNCTION; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */ + TimerHandle_t xTimerCreate( const char * const pcTimerName, + const TickType_t xTimerPeriodInTicks, + const UBaseType_t uxAutoReload, + void * const pvTimerID, + TimerCallbackFunction_t pxCallbackFunction ) PRIVILEGED_FUNCTION; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */ #endif /** @@ -392,7 +396,12 @@ typedef void (*PendedFunction_t)( void *, uint32_t ); * @endverbatim */ #if( configSUPPORT_STATIC_ALLOCATION == 1 ) - TimerHandle_t xTimerCreateStatic( const char * const pcTimerName, const TickType_t xTimerPeriodInTicks, const UBaseType_t uxAutoReload, void * const pvTimerID, TimerCallbackFunction_t pxCallbackFunction, StaticTimer_t *pxTimerBuffer ) PRIVILEGED_FUNCTION; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */ + TimerHandle_t xTimerCreateStatic( const char * const pcTimerName, + const TickType_t xTimerPeriodInTicks, + const UBaseType_t uxAutoReload, + void * const pvTimerID, + TimerCallbackFunction_t pxCallbackFunction, + StaticTimer_t *pxTimerBuffer ) PRIVILEGED_FUNCTION; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */ #endif /* configSUPPORT_STATIC_ALLOCATION */ /** diff --git a/FreeRTOS/Source/portable/GCC/ARM_CM3_MPU/port.c b/FreeRTOS/Source/portable/GCC/ARM_CM3_MPU/port.c index 4746230a2..ad7e7d294 100644 --- a/FreeRTOS/Source/portable/GCC/ARM_CM3_MPU/port.c +++ b/FreeRTOS/Source/portable/GCC/ARM_CM3_MPU/port.c @@ -71,8 +71,6 @@ * Implementation of functions defined in portable.h for the ARM CM3 port. *----------------------------------------------------------*/ -#error This port is not supported in this V9.0.0 pre-release revision, but will be supported in the final release. For now use V8.2.3 instead. - /* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining all the API functions to use the MPU wrappers. That should only be done when task.h is included from an application file. */ @@ -126,6 +124,10 @@ task.h is included from an application file. */ /* Set the privilege level to user mode if xRunningPrivileged is false. */ #define portRESET_PRIVILEGE( xRunningPrivileged ) if( xRunningPrivileged != pdTRUE ) __asm volatile ( " mrs r0, control \n orr r0, #1 \n msr control, r0" :::"r0" ) +/* For strict compliance with the Cortex-M spec the task start address should +have bit-0 clear, as it is loaded into the PC on exit from an ISR. */ +#define portSTART_ADDRESS_MASK ( ( StackType_t ) 0xfffffffeUL ) + /* Each task maintains its own interrupt status in the critical nesting variable. Note this is not saved as part of the task context as context switches can only occur when uxCriticalNesting is zero. */ @@ -176,7 +178,8 @@ static void prvSVCHandler( uint32_t *pulRegisters ) __attribute__(( noinline )) /* * Prototypes for all the MPU wrappers. */ -BaseType_t MPU_xTaskGenericCreate( TaskFunction_t pvTaskCode, const char * const pcName, uint16_t usStackDepth, void *pvParameters, UBaseType_t uxPriority, TaskHandle_t *pxCreatedTask, StackType_t *puxStackBuffer, const MemoryRegion_t * const xRegions ); +BaseType_t MPU_xTaskCreateRestricted( const TaskParameters_t * const pxTaskDefinition, TaskHandle_t *pxCreatedTask ); +BaseType_t MPU_xTaskCreate( TaskFunction_t pvTaskCode, const char * const pcName, uint16_t usStackDepth, void *pvParameters, UBaseType_t uxPriority, TaskHandle_t *pxCreatedTask ); void MPU_vTaskAllocateMPURegions( TaskHandle_t xTask, const MemoryRegion_t * const xRegions ); void MPU_vTaskDelete( TaskHandle_t pxTaskToDelete ); void MPU_vTaskDelayUntil( TickType_t * const pxPreviousWakeTime, TickType_t xTimeIncrement ); @@ -234,7 +237,7 @@ StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t px pxTopOfStack--; /* Offset added to account for the way the MCU uses the stack on entry/exit of interrupts. */ *pxTopOfStack = portINITIAL_XPSR; /* xPSR */ pxTopOfStack--; - *pxTopOfStack = ( StackType_t ) pxCode; /* PC */ + *pxTopOfStack = ( ( StackType_t ) pxCode ) & portSTART_ADDRESS_MASK; /* PC */ pxTopOfStack--; *pxTopOfStack = 0; /* LR */ pxTopOfStack -= 5; /* R12, R3, R2 and R1. */ @@ -677,12 +680,23 @@ uint32_t ul; } /*-----------------------------------------------------------*/ -BaseType_t MPU_xTaskGenericCreate( TaskFunction_t pvTaskCode, const char * const pcName, uint16_t usStackDepth, void *pvParameters, UBaseType_t uxPriority, TaskHandle_t *pxCreatedTask, StackType_t *puxStackBuffer, const MemoryRegion_t * const xRegions ) +BaseType_t MPU_xTaskCreateRestricted( const TaskParameters_t * const pxTaskDefinition, TaskHandle_t *pxCreatedTask ) +{ +BaseType_t xReturn; +BaseType_t xRunningPrivileged = prvRaisePrivilege(); + + xReturn = xTaskCreateRestricted( pxTaskDefinition, pxCreatedTask ); + portRESET_PRIVILEGE( xRunningPrivileged ); + return xReturn; +} +/*-----------------------------------------------------------*/ + +BaseType_t MPU_xTaskCreate( TaskFunction_t pvTaskCode, const char * const pcName, uint16_t usStackDepth, void *pvParameters, UBaseType_t uxPriority, TaskHandle_t *pxCreatedTask ) { BaseType_t xReturn; BaseType_t xRunningPrivileged = prvRaisePrivilege(); - xReturn = xTaskGenericCreate( pvTaskCode, pcName, usStackDepth, pvParameters, uxPriority, pxCreatedTask, puxStackBuffer, xRegions ); + xReturn = xTaskCreate( pvTaskCode, pcName, usStackDepth, pvParameters, uxPriority, pxCreatedTask ); portRESET_PRIVILEGE( xRunningPrivileged ); return xReturn; } diff --git a/FreeRTOS/Source/portable/MSVC-MingW/port.c b/FreeRTOS/Source/portable/MSVC-MingW/port.c index 347523755..99892bb73 100644 --- a/FreeRTOS/Source/portable/MSVC-MingW/port.c +++ b/FreeRTOS/Source/portable/MSVC-MingW/port.c @@ -262,6 +262,7 @@ StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t px { xThreadState *pxThreadState = NULL; int8_t *pcTopOfStack = ( int8_t * ) pxTopOfStack; +const SIZE_T xStackSize = 1024; /* Set the size to a small number which will get rounded up to the minimum possible. */ #ifdef portSOAK_TEST { @@ -282,8 +283,8 @@ int8_t *pcTopOfStack = ( int8_t * ) pxTopOfStack; pxThreadState = ( xThreadState * ) ( pcTopOfStack - sizeof( xThreadState ) ); /* Create the thread itself. */ - pxThreadState->pvThread = CreateThread( NULL, 0, ( LPTHREAD_START_ROUTINE ) pxCode, pvParameters, CREATE_SUSPENDED, NULL ); - configASSERT( pxThreadState->pvThread ); + pxThreadState->pvThread = CreateThread( NULL, xStackSize, ( LPTHREAD_START_ROUTINE ) pxCode, pvParameters, CREATE_SUSPENDED | STACK_SIZE_PARAM_IS_A_RESERVATION, NULL ); + configASSERT( pxThreadState->pvThread ); /* See comment where TerminateThread() is called. */ SetThreadAffinityMask( pxThreadState->pvThread, 0x01 ); SetThreadPriorityBoost( pxThreadState->pvThread, TRUE ); SetThreadPriority( pxThreadState->pvThread, portTASK_THREAD_PRIORITY ); @@ -490,6 +491,10 @@ uint32_t ulErrorCode; { WaitForSingleObject( pvInterruptEventMutex, INFINITE ); + /* !!! This is not a nice way to terminate a thread, and will eventually + result in resources being depleted if tasks frequently delete other + tasks (rather than deleting themselves) as the task stacks will not be + freed. */ ulErrorCode = TerminateThread( pxThreadState->pvThread, 0 ); configASSERT( ulErrorCode ); @@ -532,6 +537,10 @@ uint32_t ulErrorCode; ulErrorCode = CloseHandle( pvThread ); configASSERT( ulErrorCode ); + /* This is called from a critical section, which must be exited before the + thread stops. */ + taskEXIT_CRITICAL(); + ExitThread( 0 ); } /*-----------------------------------------------------------*/ diff --git a/FreeRTOS/Source/tasks.c b/FreeRTOS/Source/tasks.c index 7fafd904a..b32fd6c5b 100644 --- a/FreeRTOS/Source/tasks.c +++ b/FreeRTOS/Source/tasks.c @@ -117,6 +117,26 @@ functions but without including stdio.h here. */ */ #define tskSTACK_FILL_BYTE ( 0xa5U ) +/* Sometimes the FreeRTOSConfig.h settings only allow a task to be created using +dynamically allocated RAM, in which case when any task is deleted it is known +that both the task's stack and TCB need to be freed. Sometimes the +FreeRTOSConfig.h settings only allow a task to be created using statically +allocated RAM, in which case when any task is deleted it is known that neither +the task's stack or TCB should be freed. Sometimes the FreeRTOSConfig.h +settings allow a task to be created using either statically or dynamically +allocated RAM, in which case a member of the TCB is used to record whether the +stack and/or TCB were allocated statically or dynamically, so when a task is +deleted the RAM that was allocated dynamically is freed again and no attempt is +made to free the RAM that was allocated statically. +tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE is only true if it is possible for a +task to be created using either statically or dynamically allocated RAM. Note +that if portUSING_MPU_WRAPPERS is 1 then a protected task can be created with +a statically allocated stack and a dynamically allocated TCB. */ +#define tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE ( ( ( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) || ( portUSING_MPU_WRAPPERS == 1 ) ) +#define tskDYNAMICALLY_ALLOCATED_STACK_AND_TCB ( ( uint8_t ) 0 ) +#define tskSTATICALLY_ALLOCATED_STACK_ONLY ( ( uint8_t ) 1 ) +#define tskSTATICALLY_ALLOCATED_STACK_AND_TCB ( ( uint8_t ) 2 ) + /* * Macros used by vListTask to indicate which state a task is in. */ @@ -330,8 +350,10 @@ typedef struct tskTaskControlBlock volatile uint8_t ucNotifyState; #endif - #if( ( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) - uint8_t ucStaticallyAllocated; /* Set to pdTRUE if the task is a statically allocated to ensure no attempt is made to free the memory. */ + /* See the comments above the definition of + tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE. */ + #if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) + uint8_t ucStaticallyAllocated; /*< Set to pdTRUE if the task is a statically allocated to ensure no attempt is made to free the memory. */ #endif #if( INCLUDE_xTaskAbortDelay == 1 ) @@ -542,7 +564,14 @@ static void prvResetNextTaskUnblockTime( void ); * Called after a Task_t structure has been allocated either statically or * dynamically to fill in the structure's members. */ -static void prvInitialiseNewTask( TaskFunction_t pxTaskCode, const char * const pcName, const uint32_t ulStackDepth, void * const pvParameters, UBaseType_t uxPriority, TaskHandle_t * const pxCreatedTask, TCB_t *pxNewTCB ) PRIVILEGED_FUNCTION; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */ +static void prvInitialiseNewTask( TaskFunction_t pxTaskCode, + const char * const pcName, + const uint32_t ulStackDepth, + void * const pvParameters, + UBaseType_t uxPriority, + TaskHandle_t * const pxCreatedTask, + TCB_t *pxNewTCB, + const MemoryRegion_t * const xRegions ) PRIVILEGED_FUNCTION; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */ /* * Called after a new task has been created and initialised to place the task @@ -554,7 +583,13 @@ static void prvAddNewTaskToReadyList( TCB_t *pxNewTCB ) PRIVILEGED_FUNCTION; #if( configSUPPORT_STATIC_ALLOCATION == 1 ) - TaskHandle_t xTaskCreateStatic( TaskFunction_t pxTaskCode, const char * const pcName, const uint32_t ulStackDepth, void * const pvParameters, UBaseType_t uxPriority, StackType_t * const puxStackBuffer, StaticTask_t * const pxTaskBuffer ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */ + TaskHandle_t xTaskCreateStatic( TaskFunction_t pxTaskCode, + const char * const pcName, + const uint32_t ulStackDepth, + void * const pvParameters, + UBaseType_t uxPriority, + StackType_t * const puxStackBuffer, + StaticTask_t * const pxTaskBuffer ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */ { TCB_t *pxNewTCB; TaskHandle_t xReturn; @@ -569,15 +604,15 @@ static void prvAddNewTaskToReadyList( TCB_t *pxNewTCB ) PRIVILEGED_FUNCTION; pxNewTCB = ( TCB_t * ) pxTaskBuffer; /*lint !e740 Unusual cast is ok as the structures are designed to have the same alignment, and the size is checked by an assert. */ pxNewTCB->pxStack = ( StackType_t * ) puxStackBuffer; - #if( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) + #if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) { /* Tasks can be created statically or dynamically, so note this task was created statically in case the task is later deleted. */ - pxNewTCB->ucStaticallyAllocated = pdTRUE; + pxNewTCB->ucStaticallyAllocated = tskSTATICALLY_ALLOCATED_STACK_AND_TCB; } #endif /* configSUPPORT_DYNAMIC_ALLOCATION */ - prvInitialiseNewTask( pxTaskCode, pcName, ulStackDepth, pvParameters, uxPriority, &xReturn, pxNewTCB ); + prvInitialiseNewTask( pxTaskCode, pcName, ulStackDepth, pvParameters, uxPriority, &xReturn, pxNewTCB, NULL ); prvAddNewTaskToReadyList( pxNewTCB ); } else @@ -591,9 +626,59 @@ static void prvAddNewTaskToReadyList( TCB_t *pxNewTCB ) PRIVILEGED_FUNCTION; #endif /* SUPPORT_STATIC_ALLOCATION */ /*-----------------------------------------------------------*/ +#if( portUSING_MPU_WRAPPERS == 1 ) + + BaseType_t xTaskCreateRestricted( const TaskParameters_t * const pxTaskDefinition, TaskHandle_t *pxCreatedTask ) + { + TCB_t *pxNewTCB; + BaseType_t xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY; + + configASSERT( pxTaskDefinition->puxStackBuffer ); + + if( pxTaskDefinition->puxStackBuffer != NULL ) + { + /* Allocate space for the TCB. Where the memory comes from depends + on the implementation of the port malloc function and whether or + not static allocation is being used. */ + pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) ); + + if( pxNewTCB != NULL ) + { + /* Store the stack location in the TCB. */ + pxNewTCB->pxStack = pxTaskDefinition->puxStackBuffer; + + /* Tasks can be created statically or dynamically, so note + this task had a statically allocated stack in case it is + later deleted. The TCB was allocated dynamically. */ + pxNewTCB->ucStaticallyAllocated = tskSTATICALLY_ALLOCATED_STACK_ONLY; + + prvInitialiseNewTask( pxTaskDefinition->pvTaskCode, + pxTaskDefinition->pcName, + ( uint32_t ) pxTaskDefinition->usStackDepth, + pxTaskDefinition->pvParameters, + pxTaskDefinition->uxPriority, + pxCreatedTask, pxNewTCB, + pxTaskDefinition->xRegions ); + + prvAddNewTaskToReadyList( pxNewTCB ); + xReturn = pdPASS; + } + } + + return xReturn; + } + +#endif /* portUSING_MPU_WRAPPERS */ +/*-----------------------------------------------------------*/ + #if( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) - BaseType_t xTaskCreate( TaskFunction_t pxTaskCode, const char * const pcName, const uint16_t usStackDepth, void * const pvParameters, UBaseType_t uxPriority, TaskHandle_t * const pxCreatedTask ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */ + BaseType_t xTaskCreate( TaskFunction_t pxTaskCode, + const char * const pcName, + const uint16_t usStackDepth, + void * const pvParameters, + UBaseType_t uxPriority, + TaskHandle_t * const pxCreatedTask ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */ { TCB_t *pxNewTCB; BaseType_t xReturn; @@ -656,15 +741,15 @@ static void prvAddNewTaskToReadyList( TCB_t *pxNewTCB ) PRIVILEGED_FUNCTION; if( pxNewTCB != NULL ) { - #if( configSUPPORT_STATIC_ALLOCATION == 1 ) + #if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) { /* Tasks can be created statically or dynamically, so note this task was created dynamically in case it is later deleted. */ - pxNewTCB->ucStaticallyAllocated = pdFALSE; + pxNewTCB->ucStaticallyAllocated = tskDYNAMICALLY_ALLOCATED_STACK_AND_TCB; } #endif /* configSUPPORT_STATIC_ALLOCATION */ - prvInitialiseNewTask( pxTaskCode, pcName, ( uint32_t ) usStackDepth, pvParameters, uxPriority, pxCreatedTask, pxNewTCB ); + prvInitialiseNewTask( pxTaskCode, pcName, ( uint32_t ) usStackDepth, pvParameters, uxPriority, pxCreatedTask, pxNewTCB, NULL ); prvAddNewTaskToReadyList( pxNewTCB ); xReturn = pdPASS; } @@ -679,7 +764,14 @@ static void prvAddNewTaskToReadyList( TCB_t *pxNewTCB ) PRIVILEGED_FUNCTION; #endif /* configSUPPORT_DYNAMIC_ALLOCATION */ /*-----------------------------------------------------------*/ -static void prvInitialiseNewTask( TaskFunction_t pxTaskCode, const char * const pcName, const uint32_t ulStackDepth, void * const pvParameters, UBaseType_t uxPriority, TaskHandle_t * const pxCreatedTask, TCB_t *pxNewTCB ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */ +static void prvInitialiseNewTask( TaskFunction_t pxTaskCode, + const char * const pcName, + const uint32_t ulStackDepth, + void * const pvParameters, + UBaseType_t uxPriority, + TaskHandle_t * const pxCreatedTask, + TCB_t *pxNewTCB, + const MemoryRegion_t * const xRegions ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */ { StackType_t *pxTopOfStack; UBaseType_t x; @@ -805,6 +897,11 @@ UBaseType_t x; { vPortStoreTaskMPUSettings( &( pxNewTCB->xMPUSettings ), xRegions, pxNewTCB->pxStack, ulStackDepth ); } + #else + { + /* Avoid compiler warning about unreferenced parameter. */ + ( void ) xRegions; + } #endif #if( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 ) @@ -1740,7 +1837,13 @@ BaseType_t xReturn; /* The Idle task is created using user provided RAM - obtain the address of the RAM then create the idle task. */ vApplicationGetIdleTaskMemory( &pxIdleTaskTCBBuffer, &pxIdleTaskStackBuffer, &ulIdleTaskStackSize ); - xIdleTaskHandle = xTaskCreateStatic( prvIdleTask, "IDLE", ulIdleTaskStackSize, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), pxIdleTaskStackBuffer, pxIdleTaskTCBBuffer ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */ + xIdleTaskHandle = xTaskCreateStatic( prvIdleTask, + "IDLE", + ulIdleTaskStackSize, + ( void * ) NULL, + ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), + pxIdleTaskStackBuffer, + pxIdleTaskTCBBuffer ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */ if( xIdleTaskHandle != NULL ) { @@ -1754,7 +1857,11 @@ BaseType_t xReturn; #else { /* The Idle task is being created using dynamically allocated RAM. */ - xReturn = xTaskCreate( prvIdleTask, "IDLE", configMINIMAL_STACK_SIZE, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), &xIdleTaskHandle ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */ + xReturn = xTaskCreate( prvIdleTask, + "IDLE", configMINIMAL_STACK_SIZE, + ( void * ) NULL, + ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), + &xIdleTaskHandle ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */ } #endif /* configSUPPORT_STATIC_ALLOCATION */ @@ -3486,24 +3593,36 @@ static void prvCheckTasksWaitingTermination( void ) } #endif /* configUSE_NEWLIB_REENTRANT */ - #if( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 0 ) ) + #if( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 0 ) && ( portUSING_MPU_WRAPPERS == 0 ) ) { - /* The task can only have been allocated dynamically - free it - again. */ + /* The task can only have been allocated dynamically - free both + the stack and TCB. */ vPortFree( pxTCB->pxStack ); vPortFree( pxTCB ); } - #elif( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) ) + #elif( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE == 1 ) { /* The task could have been allocated statically or dynamically, so - check before attempting to free the memory. */ - if( pxTCB->ucStaticallyAllocated == ( uint8_t ) pdFALSE ) + check what was statically allocated before trying to free the + memory. */ + if( pxTCB->ucStaticallyAllocated == tskDYNAMICALLY_ALLOCATED_STACK_AND_TCB ) { + /* Both the stack and TCB were allocated dynamically, so both + must be freed. */ vPortFree( pxTCB->pxStack ); vPortFree( pxTCB ); } + else if( pxTCB->ucStaticallyAllocated == tskSTATICALLY_ALLOCATED_STACK_ONLY ) + { + /* Only the stack was statically allocated, so the TCB is the + only memory that must be freed. */ + vPortFree( pxTCB ); + } else { + /* Neither the stack nor the TCB were allocated dynamically, so + nothing needs to be freed. */ + configASSERT( pxTCB->ucStaticallyAllocated == tskSTATICALLY_ALLOCATED_STACK_AND_TCB ) mtCOVERAGE_TEST_MARKER(); } } diff --git a/FreeRTOS/Source/timers.c b/FreeRTOS/Source/timers.c index 96d22615d..6b39c2a75 100644 --- a/FreeRTOS/Source/timers.c +++ b/FreeRTOS/Source/timers.c @@ -248,7 +248,12 @@ static void prvProcessTimerOrBlockTask( const TickType_t xNextExpireTime, BaseTy * Called after a Timer_t structure has been allocated either statically or * dynamically to fill in the structure's members. */ -static void prvInitialiseNewTimer( const char * const pcTimerName, const TickType_t xTimerPeriodInTicks, const UBaseType_t uxAutoReload, void * const pvTimerID, TimerCallbackFunction_t pxCallbackFunction, Timer_t *pxNewTimer ) PRIVILEGED_FUNCTION; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */ +static void prvInitialiseNewTimer( const char * const pcTimerName, + const TickType_t xTimerPeriodInTicks, + const UBaseType_t uxAutoReload, + void * const pvTimerID, + TimerCallbackFunction_t pxCallbackFunction, + Timer_t *pxNewTimer ) PRIVILEGED_FUNCTION; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */ /*-----------------------------------------------------------*/ BaseType_t xTimerCreateTimerTask( void ) @@ -271,7 +276,13 @@ BaseType_t xReturn = pdFAIL; uint32_t ulTimerTaskStackSize; vApplicationGetTimerTaskMemory( &pxTimerTaskTCBBuffer, &pxTimerTaskStackBuffer, &ulTimerTaskStackSize ); - xTimerTaskHandle = xTaskCreateStatic( prvTimerTask, "Tmr Svc", ulTimerTaskStackSize, NULL, ( ( UBaseType_t ) configTIMER_TASK_PRIORITY ) | portPRIVILEGE_BIT, pxTimerTaskStackBuffer, pxTimerTaskTCBBuffer ); + xTimerTaskHandle = xTaskCreateStatic( prvTimerTask, + "Tmr Svc", + ulTimerTaskStackSize, + NULL, + ( ( UBaseType_t ) configTIMER_TASK_PRIORITY ) | portPRIVILEGE_BIT, + pxTimerTaskStackBuffer, + pxTimerTaskTCBBuffer ); if( xTimerTaskHandle != NULL ) { @@ -280,7 +291,12 @@ BaseType_t xReturn = pdFAIL; } #else { - xReturn = xTaskCreate( prvTimerTask, "Tmr Svc", configTIMER_TASK_STACK_DEPTH, NULL, ( ( UBaseType_t ) configTIMER_TASK_PRIORITY ) | portPRIVILEGE_BIT, &xTimerTaskHandle ); + xReturn = xTaskCreate( prvTimerTask, + "Tmr Svc", + configTIMER_TASK_STACK_DEPTH, + NULL, + ( ( UBaseType_t ) configTIMER_TASK_PRIORITY ) | portPRIVILEGE_BIT, + &xTimerTaskHandle ); } #endif /* configSUPPORT_STATIC_ALLOCATION */ } @@ -296,7 +312,11 @@ BaseType_t xReturn = pdFAIL; #if( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) - TimerHandle_t xTimerCreate( const char * const pcTimerName, const TickType_t xTimerPeriodInTicks, const UBaseType_t uxAutoReload, void * const pvTimerID, TimerCallbackFunction_t pxCallbackFunction ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */ + TimerHandle_t xTimerCreate( const char * const pcTimerName, + const TickType_t xTimerPeriodInTicks, + const UBaseType_t uxAutoReload, + void * const pvTimerID, + TimerCallbackFunction_t pxCallbackFunction ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */ { Timer_t *pxNewTimer; @@ -324,7 +344,12 @@ BaseType_t xReturn = pdFAIL; #if( configSUPPORT_STATIC_ALLOCATION == 1 ) - TimerHandle_t xTimerCreateStatic( const char * const pcTimerName, const TickType_t xTimerPeriodInTicks, const UBaseType_t uxAutoReload, void * const pvTimerID, TimerCallbackFunction_t pxCallbackFunction, StaticTimer_t *pxTimerBuffer ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */ + TimerHandle_t xTimerCreateStatic( const char * const pcTimerName, + const TickType_t xTimerPeriodInTicks, + const UBaseType_t uxAutoReload, + void * const pvTimerID, + TimerCallbackFunction_t pxCallbackFunction, + StaticTimer_t *pxTimerBuffer ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */ { Timer_t *pxNewTimer; @@ -361,7 +386,12 @@ BaseType_t xReturn = pdFAIL; #endif /* configSUPPORT_STATIC_ALLOCATION */ /*-----------------------------------------------------------*/ -static void prvInitialiseNewTimer( const char * const pcTimerName, const TickType_t xTimerPeriodInTicks, const UBaseType_t uxAutoReload, void * const pvTimerID, TimerCallbackFunction_t pxCallbackFunction, Timer_t *pxNewTimer ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */ +static void prvInitialiseNewTimer( const char * const pcTimerName, + const TickType_t xTimerPeriodInTicks, + const UBaseType_t uxAutoReload, + void * const pvTimerID, + TimerCallbackFunction_t pxCallbackFunction, + Timer_t *pxNewTimer ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */ { /* 0 is not a valid value for xTimerPeriodInTicks. */ configASSERT( ( xTimerPeriodInTicks > 0 ) ); -- 2.39.5