2 * FreeRTOS Kernel V10.3.0
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3 * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
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5 * Permission is hereby granted, free of charge, to any person obtaining a copy of
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6 * this software and associated documentation files (the "Software"), to deal in
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7 * the Software without restriction, including without limitation the rights to
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8 * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
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9 * the Software, and to permit persons to whom the Software is furnished to do so,
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10 * subject to the following conditions:
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12 * The above copyright notice and this permission notice shall be included in all
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13 * copies or substantial portions of the Software.
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15 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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16 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
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17 * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
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18 * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
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19 * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
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20 * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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22 * http://www.FreeRTOS.org
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23 * http://aws.amazon.com/freertos
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25 * 1 tab == 4 spaces!
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30 * This file demonstrates the use of FreeRTOS-MPU. It creates tasks in both
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31 * User mode and Privileged mode, and using both the xTaskCreate() and
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32 * xTaskCreateRestricted() API functions. The purpose of each created task is
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33 * documented in the comments above the task function prototype (in this file),
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34 * with the task behaviour demonstrated and documented within the task function
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37 * In addition a queue is used to demonstrate passing data between
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38 * protected/restricted tasks as well as passing data between an interrupt and
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39 * a protected/restricted task. A software timer is also used.
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41 * The system status is printed to ITM channel 0, where it can be viewed in the
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42 * Keil serial/debug window (a compatible SW debug interface is required).
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45 /* Microchip includes. */
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48 /* Scheduler includes. */
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49 #include "FreeRTOS.h"
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54 #include "event_groups.h"
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56 /*-----------------------------------------------------------*/
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58 /* Misc constants. */
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59 #define mainDONT_BLOCK ( 0 )
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61 /* GCC specifics. */
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62 #define mainALIGN_TO( x ) __attribute__((aligned(x)))
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64 /* Hardware register addresses. */
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65 #define mainVTOR ( * ( volatile uint32_t * ) 0xE000ED08 )
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67 /* The period of the timer must be less than the rate at which
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68 configPRINT_SYSTEM_STATUS messages are sent to the check task - otherwise the
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69 check task will think the timer has stopped. */
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70 #define mainTIMER_PERIOD pdMS_TO_TICKS( 200 )
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72 /* The name of the task that is deleted by the Idle task is used in a couple of
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73 places, so is #defined. */
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74 #define mainTASK_TO_DELETE_NAME "DeleteMe"
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76 /*-----------------------------------------------------------*/
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77 /* Prototypes for functions that implement tasks. -----------*/
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78 /*-----------------------------------------------------------*/
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81 * NOTE: The filling and checking of the registers in the following two tasks
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82 * is only actually performed when the GCC compiler is used. Use of the
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83 * queue to communicate with the check task is done with all compilers.
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85 * Prototype for the first two register test tasks, which execute in User mode.
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86 * Amongst other things, these fill the CPU registers (other than the FPU
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87 * registers) with known values before checking that the registers still contain
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88 * the expected values. Each of the two tasks use different values so an error
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89 * in the context switch mechanism can be caught. Both tasks execute at the
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90 * idle priority so will get preempted regularly. Each task repeatedly sends a
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91 * message on a queue to a 'check' task so the check task knows the register
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92 * check task is still executing and has not detected any errors. If an error
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93 * is detected within the task the task is simply deleted so it no longer sends
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96 * For demonstration and test purposes, both tasks obtain access to the queue
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97 * handle in different ways; vRegTest1Implementation() is created in Privileged
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98 * mode and copies the queue handle to its local stack before setting itself to
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99 * User mode, and vRegTest2Implementation() receives the task handle using its
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102 extern void vRegTest1Implementation( void *pvParameters );
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103 extern void vRegTest2Implementation( void *pvParameters );
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106 * The second two register test tasks are similar to the first two, but do test
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107 * the floating point registers, execute in Privileged mode, and signal their
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108 * execution status to the 'check' task by incrementing a loop counter on each
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109 * iteration instead of sending a message on a queue. The loop counters use a
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110 * memory region to which the User mode 'check' task has read access.
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112 * The functions ending 'Implementation' are called by the register check tasks.
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114 static void prvRegTest3Task( void *pvParameters );
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115 extern void vRegTest3Implementation( void );
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116 static void prvRegTest4Task( void *pvParameters );
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117 extern void vRegTest4Implementation( void );
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120 * Prototype for the check task. The check task demonstrates various features
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121 * of the MPU before entering a loop where it waits for messages to arrive on a
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124 * Two types of messages can be processes:
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126 * 1) "I'm Alive" messages sent from the first two register test tasks and a
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127 * software timer callback, as described above.
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129 * 2) "Print Status commands" sent periodically by the tick hook function (and
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130 * therefore from within an interrupt) which commands the check task to write
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131 * either pass or fail to the terminal, depending on the status of the reg
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134 static void prvCheckTask( void *pvParameters );
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137 * Prototype for a task created in User mode using the original vTaskCreate()
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138 * API function. The task demonstrates the characteristics of such a task,
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139 * before simply deleting itself.
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141 static void prvOldStyleUserModeTask( void *pvParameters );
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144 * Prototype for a task created in Privileged mode using the original
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145 * vTaskCreate() API function. The task demonstrates the characteristics of
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146 * such a task, before simply deleting itself.
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148 static void prvOldStylePrivilegedModeTask( void *pvParameters );
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151 * A task that exercises the API of various RTOS objects before being deleted by
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152 * the Idle task. This is done for MPU API code coverage test purposes.
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154 static void prvTaskToDelete( void *pvParameters );
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157 * Functions called by prvTaskToDelete() to exercise the MPU API.
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159 static void prvExerciseEventGroupAPI( void );
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160 static void prvExerciseSemaphoreAPI( void );
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161 static void prvExerciseTaskNotificationAPI( void );
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164 * Just configures any clocks and IO necessary.
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166 static void prvSetupHardware( void );
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169 * Simply deletes the calling task. The function is provided only because it
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170 * is simpler to call from asm code than the normal vTaskDelete() API function.
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171 * It has the noinline attribute because it is called from asm code.
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173 void vMainDeleteMe( void ) __attribute__((noinline));
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176 * Used by the first two reg test tasks and a software timer callback function
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177 * to send messages to the check task. The message just lets the check task
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178 * know that the tasks and timer are still functioning correctly. If a reg test
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179 * task detects an error it will delete itself, and in so doing prevent itself
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180 * from sending any more 'I'm Alive' messages to the check task.
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182 void vMainSendImAlive( QueueHandle_t xHandle, uint32_t ulTaskNumber );
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185 * The check task is created with access to three memory regions (plus its
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186 * stack). Each memory region is configured with different parameters and
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187 * prvTestMemoryRegions() demonstrates what can and cannot be accessed for each
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188 * region. prvTestMemoryRegions() also demonstrates a task that was created
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189 * as a privileged task settings its own privilege level down to that of a user
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192 static void prvTestMemoryRegions( void );
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195 * Callback function used with the timer that uses the queue to send messages
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196 * to the check task.
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198 static void prvTimerCallback( TimerHandle_t xExpiredTimer );
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201 * Simple routine to print a string to ITM for viewing in the Keil serial debug
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204 static void prvITMPrintString( const char *pcString );
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206 /*-----------------------------------------------------------*/
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208 /* The handle of the queue used to communicate between tasks and between tasks
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209 and interrupts. Note that this is a global scope variable that falls outside of
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210 any MPU region. As such other techniques have to be used to allow the tasks
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211 to gain access to the queue. See the comments in the tasks themselves for
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212 further information. */
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213 QueueHandle_t xGlobalScopeCheckQueue = NULL;
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215 /* Holds the handle of a task that is deleted in the idle task hook - this is
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216 done for code coverage test purposes only. */
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217 static TaskHandle_t xTaskToDelete = NULL;
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219 /* The timer that periodically sends data to the check task on the queue. */
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220 static TimerHandle_t xTimer = NULL;
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222 #if defined ( __GNUC__ )
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223 extern uint32_t __FLASH_segment_start__[];
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224 extern uint32_t __FLASH_segment_end__[];
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225 extern uint32_t __SRAM_segment_start__[];
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226 extern uint32_t __SRAM_segment_end__[];
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227 extern uint32_t __privileged_functions_start__[];
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228 extern uint32_t __privileged_functions_end__[];
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229 extern uint32_t __privileged_data_start__[];
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230 extern uint32_t __privileged_data_end__[];
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231 extern uint32_t __privileged_functions_actual_end__[];
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232 extern uint32_t __privileged_data_actual_end__[];
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234 const uint32_t * __FLASH_segment_start__ = ( uint32_t * ) 0xE0000UL;
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235 const uint32_t * __FLASH_segment_end__ = ( uint32_t * ) 0x100000UL;
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236 const uint32_t * __SRAM_segment_start__ = ( uint32_t * ) 0x100000UL;
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237 const uint32_t * __SRAM_segment_end__ = ( uint32_t * ) 0x120000;
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238 const uint32_t * __privileged_functions_start__ = ( uint32_t * ) 0xE0000UL;
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239 const uint32_t * __privileged_functions_end__ = ( uint32_t * ) 0xE4000UL;
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240 const uint32_t * __privileged_data_start__ = ( uint32_t * ) 0x100000UL;
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241 const uint32_t * __privileged_data_end__ = ( uint32_t * ) 0x100200UL;
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243 /*-----------------------------------------------------------*/
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244 /* Data used by the 'check' task. ---------------------------*/
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245 /*-----------------------------------------------------------*/
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247 /* Define the constants used to allocate the check task stack. Note that the
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248 stack size is defined in words, not bytes. */
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249 #define mainCHECK_TASK_STACK_SIZE_WORDS 128
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250 #define mainCHECK_TASK_STACK_ALIGNMENT ( mainCHECK_TASK_STACK_SIZE_WORDS * sizeof( portSTACK_TYPE ) )
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252 /* Declare the stack that will be used by the check task. The kernel will
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253 automatically create an MPU region for the stack. The stack alignment must
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254 match its size, so if 128 words are reserved for the stack then it must be
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255 aligned to ( 128 * 4 ) bytes. */
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256 static portSTACK_TYPE xCheckTaskStack[ mainCHECK_TASK_STACK_SIZE_WORDS ] mainALIGN_TO( mainCHECK_TASK_STACK_ALIGNMENT );
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258 /* Declare three arrays - an MPU region will be created for each array
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259 using the TaskParameters_t structure below. THIS IS JUST TO DEMONSTRATE THE
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260 MPU FUNCTIONALITY, the data is not used by the check tasks primary function
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261 of monitoring the reg test tasks and printing out status information.
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263 Note that the arrays allocate slightly more RAM than is actually assigned to
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264 the MPU region. This is to permit writes off the end of the array to be
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265 detected even when the arrays are placed in adjacent memory locations (with no
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266 gaps between them). The align size must be a power of two. */
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267 #define mainREAD_WRITE_ARRAY_SIZE 130
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268 #define mainREAD_WRITE_ALIGN_SIZE 128
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269 char cReadWriteArray[ mainREAD_WRITE_ARRAY_SIZE ] mainALIGN_TO( mainREAD_WRITE_ALIGN_SIZE );
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271 #define mainREAD_ONLY_ARRAY_SIZE 260
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272 #define mainREAD_ONLY_ALIGN_SIZE 256
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273 char cReadOnlyArray[ mainREAD_ONLY_ARRAY_SIZE ] mainALIGN_TO( mainREAD_ONLY_ALIGN_SIZE );
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275 #define mainPRIVILEGED_ONLY_ACCESS_ARRAY_SIZE 130
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276 #define mainPRIVILEGED_ONLY_ACCESS_ALIGN_SIZE 128
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277 char cPrivilegedOnlyAccessArray[ mainPRIVILEGED_ONLY_ACCESS_ALIGN_SIZE ] mainALIGN_TO( mainPRIVILEGED_ONLY_ACCESS_ALIGN_SIZE );
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279 /* The following two variables are used to communicate the status of the second
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280 two register check tasks (tasks 3 and 4) to the check task. If the variables
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281 keep incrementing, then the register check tasks have not discovered any errors.
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282 If a variable stops incrementing, then an error has been found. The variables
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283 overlay the array that the check task has access to so they can be read by the
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284 check task without causing a memory fault. The check task has the highest
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285 priority so will have finished with the array before the register test tasks
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286 start to access it. */
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287 volatile uint32_t *pulRegTest3LoopCounter = ( uint32_t * ) &( cReadWriteArray[ 0 ] ), *pulRegTest4LoopCounter = ( uint32_t * ) &( cReadWriteArray[ 4 ] );
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289 /* Fill in a TaskParameters_t structure to define the check task - this is the
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290 structure passed to the xTaskCreateRestricted() function. */
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291 static const TaskParameters_t xCheckTaskParameters =
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293 prvCheckTask, /* pvTaskCode - the function that implements the task. */
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294 "Check", /* pcName */
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295 mainCHECK_TASK_STACK_SIZE_WORDS, /* usStackDepth - defined in words, not bytes. */
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296 ( void * ) 0x12121212, /* pvParameters - this value is just to test that the parameter is being passed into the task correctly. */
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297 ( tskIDLE_PRIORITY + 1 ) | portPRIVILEGE_BIT,/* uxPriority - this is the highest priority task in the system. The task is created in privileged mode to demonstrate accessing the privileged only data. */
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298 xCheckTaskStack, /* puxStackBuffer - the array to use as the task stack, as declared above. */
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300 /* xRegions - In this case the xRegions array is used to create MPU regions
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301 for all three of the arrays declared directly above. Each MPU region is
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302 created with different parameters. Again, THIS IS JUST TO DEMONSTRATE THE
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303 MPU FUNCTIONALITY, the data is not used by the check tasks primary function
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304 of monitoring the reg test tasks and printing out status information.*/
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306 /* Base address Length Parameters */
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307 { cReadWriteArray, mainREAD_WRITE_ALIGN_SIZE, portMPU_REGION_READ_WRITE },
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308 { cReadOnlyArray, mainREAD_ONLY_ALIGN_SIZE, portMPU_REGION_READ_ONLY },
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309 { cPrivilegedOnlyAccessArray, mainPRIVILEGED_ONLY_ACCESS_ALIGN_SIZE, portMPU_REGION_PRIVILEGED_READ_WRITE }
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315 /*-----------------------------------------------------------*/
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316 /* Data used by the 'reg test' tasks. -----------------------*/
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317 /*-----------------------------------------------------------*/
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319 /* Define the constants used to allocate the reg test task stacks. Note that
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320 that stack size is defined in words, not bytes. */
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321 #define mainREG_TEST_STACK_SIZE_WORDS 128
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322 #define mainREG_TEST_STACK_ALIGNMENT ( mainREG_TEST_STACK_SIZE_WORDS * sizeof( portSTACK_TYPE ) )
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324 /* Declare the stacks that will be used by the reg test tasks. The kernel will
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325 automatically create an MPU region for the stack. The stack alignment must
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326 match its size, so if 128 words are reserved for the stack then it must be
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327 aligned to ( 128 * 4 ) bytes. */
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328 static portSTACK_TYPE xRegTest1Stack[ mainREG_TEST_STACK_SIZE_WORDS ] mainALIGN_TO( mainREG_TEST_STACK_ALIGNMENT );
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329 static portSTACK_TYPE xRegTest2Stack[ mainREG_TEST_STACK_SIZE_WORDS ] mainALIGN_TO( mainREG_TEST_STACK_ALIGNMENT );
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331 /* Fill in a TaskParameters_t structure per reg test task to define the tasks. */
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332 static const TaskParameters_t xRegTest1Parameters =
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334 vRegTest1Implementation, /* pvTaskCode - the function that implements the task. */
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335 "RegTest1", /* pcName */
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336 mainREG_TEST_STACK_SIZE_WORDS, /* usStackDepth */
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337 ( void * ) configREG_TEST_TASK_1_PARAMETER, /* pvParameters - this value is just to test that the parameter is being passed into the task correctly. */
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338 tskIDLE_PRIORITY | portPRIVILEGE_BIT, /* uxPriority - note that this task is created with privileges to demonstrate one method of passing a queue handle into the task. */
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339 xRegTest1Stack, /* puxStackBuffer - the array to use as the task stack, as declared above. */
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340 { /* xRegions - this task does not use any non-stack data hence all members are zero. */
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341 /* Base address Length Parameters */
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342 { 0x00, 0x00, 0x00 },
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343 { 0x00, 0x00, 0x00 },
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344 { 0x00, 0x00, 0x00 }
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347 /*-----------------------------------------------------------*/
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349 static TaskParameters_t xRegTest2Parameters =
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351 vRegTest2Implementation, /* pvTaskCode - the function that implements the task. */
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352 "RegTest2", /* pcName */
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353 mainREG_TEST_STACK_SIZE_WORDS, /* usStackDepth */
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354 ( void * ) NULL, /* pvParameters - this task uses the parameter to pass in a queue handle, but the queue is not created yet. */
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355 tskIDLE_PRIORITY, /* uxPriority */
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356 xRegTest2Stack, /* puxStackBuffer - the array to use as the task stack, as declared above. */
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357 { /* xRegions - this task does not use any non-stack data hence all members are zero. */
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358 /* Base address Length Parameters */
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359 { 0x00, 0x00, 0x00 },
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360 { 0x00, 0x00, 0x00 },
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361 { 0x00, 0x00, 0x00 }
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365 /*-----------------------------------------------------------*/
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367 /*-----------------------------------------------------------*/
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368 /* Configures the task that is deleted. ---------------------*/
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369 /*-----------------------------------------------------------*/
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371 /* Define the constants used to allocate the stack of the task that is
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372 deleted. Note that that stack size is defined in words, not bytes. */
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373 #define mainDELETE_TASK_STACK_SIZE_WORDS 128
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374 #define mainTASK_TO_DELETE_STACK_ALIGNMENT ( mainDELETE_TASK_STACK_SIZE_WORDS * sizeof( portSTACK_TYPE ) )
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376 /* Declare the stack that will be used by the task that gets deleted. The
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377 kernel will automatically create an MPU region for the stack. The stack
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378 alignment must match its size, so if 128 words are reserved for the stack
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379 then it must be aligned to ( 128 * 4 ) bytes. */
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380 static portSTACK_TYPE xDeleteTaskStack[ mainDELETE_TASK_STACK_SIZE_WORDS ] mainALIGN_TO( mainTASK_TO_DELETE_STACK_ALIGNMENT );
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382 static TaskParameters_t xTaskToDeleteParameters =
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384 prvTaskToDelete, /* pvTaskCode - the function that implements the task. */
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385 mainTASK_TO_DELETE_NAME, /* pcName */
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386 mainDELETE_TASK_STACK_SIZE_WORDS, /* usStackDepth */
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387 ( void * ) NULL, /* pvParameters - this task uses the parameter to pass in a queue handle, but the queue is not created yet. */
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388 tskIDLE_PRIORITY + 1, /* uxPriority */
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389 xDeleteTaskStack, /* puxStackBuffer - the array to use as the task stack, as declared above. */
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390 { /* xRegions - this task does not use any non-stack data hence all members are zero. */
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391 /* Base address Length Parameters */
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392 { 0x00, 0x00, 0x00 },
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393 { 0x00, 0x00, 0x00 },
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394 { 0x00, 0x00, 0x00 }
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398 /*-----------------------------------------------------------*/
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402 prvSetupHardware();
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404 prvITMPrintString( "Starting\r\n" );
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406 /* Create the queue used to pass "I'm alive" messages to the check task. */
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407 xGlobalScopeCheckQueue = xQueueCreate( 1, sizeof( uint32_t ) );
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409 /* One check task uses the task parameter to receive the queue handle.
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410 This allows the file scope variable to be accessed from within the task.
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411 The pvParameters member of xRegTest2Parameters can only be set after the
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412 queue has been created so is set here. */
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413 xRegTest2Parameters.pvParameters = xGlobalScopeCheckQueue;
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415 /* Create three test tasks. Handles to the created tasks are not required,
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416 hence the second parameter is NULL. */
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417 xTaskCreateRestricted( &xRegTest1Parameters, NULL );
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418 xTaskCreateRestricted( &xRegTest2Parameters, NULL );
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419 xTaskCreateRestricted( &xCheckTaskParameters, NULL );
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421 /* Create a task that does nothing but ensure some of the MPU API functions
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422 can be called correctly, then get deleted. This is done for code coverage
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423 test purposes only. The task's handle is saved in xTaskToDelete so it can
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424 get deleted in the idle task hook. */
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425 xTaskCreateRestricted( &xTaskToDeleteParameters, &xTaskToDelete );
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427 /* Create the tasks that are created using the original xTaskCreate() API
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429 xTaskCreate( prvOldStyleUserModeTask, /* The function that implements the task. */
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430 "Task1", /* Text name for the task. */
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431 100, /* Stack depth in words. */
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432 NULL, /* Task parameters. */
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433 3, /* Priority and mode (user in this case). */
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437 xTaskCreate( prvOldStylePrivilegedModeTask, /* The function that implements the task. */
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438 "Task2", /* Text name for the task. */
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439 100, /* Stack depth in words. */
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440 NULL, /* Task parameters. */
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441 ( 3 | portPRIVILEGE_BIT ), /* Priority and mode. */
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445 /* Create the third and fourth register check tasks, as described at the top
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447 xTaskCreate( prvRegTest3Task, "Reg3", configMINIMAL_STACK_SIZE, configREG_TEST_TASK_3_PARAMETER, tskIDLE_PRIORITY, NULL );
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448 xTaskCreate( prvRegTest4Task, "Reg4", configMINIMAL_STACK_SIZE, configREG_TEST_TASK_4_PARAMETER, tskIDLE_PRIORITY, NULL );
\r
450 /* Create and start the software timer. */
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451 xTimer = xTimerCreate( "Timer", /* Test name for the timer. */
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452 mainTIMER_PERIOD, /* Period of the timer. */
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453 pdTRUE, /* The timer will auto-reload itself. */
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454 ( void * ) 0, /* The timer's ID is used to count the number of times it expires - initialise this to 0. */
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455 prvTimerCallback ); /* The function called when the timer expires. */
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456 configASSERT( xTimer );
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457 xTimerStart( xTimer, mainDONT_BLOCK );
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459 /* Start the scheduler. */
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460 vTaskStartScheduler();
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462 /* Will only get here if there was insufficient memory to create the idle
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466 /*-----------------------------------------------------------*/
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468 static void prvCheckTask( void *pvParameters )
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470 /* This task is created in privileged mode so can access the file scope
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471 queue variable. Take a stack copy of this before the task is set into user
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472 mode. Once that task is in user mode the file scope queue variable will no
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473 longer be accessible but the stack copy will. */
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474 QueueHandle_t xQueue = xGlobalScopeCheckQueue;
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476 uint32_t ulStillAliveCounts[ 3 ] = { 0 };
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477 const char *pcStatusMessage = "PASS\r\n";
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478 uint32_t ulLastRegTest3CountValue = 0, ulLastRegTest4Value = 0;
\r
480 /* The register test tasks that also test the floating point registers increment
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481 a counter on each iteration of their loop. The counters are inside the array
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482 that this task has access to. */
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483 volatile uint32_t *pulOverlaidCounter3 = ( uint32_t * ) &( cReadWriteArray[ 0 ] ), *pulOverlaidCounter4 = ( uint32_t * ) &( cReadWriteArray[ 4 ] );
\r
485 /* Just to remove compiler warning. */
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486 ( void ) pvParameters;
\r
488 /* Demonstrate how the various memory regions can and can't be accessed.
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489 The task privilege level is set down to user mode within this function. */
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490 prvTestMemoryRegions();
\r
492 /* Clear overlaid reg test counters before entering the loop below. */
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493 *pulOverlaidCounter3 = 0UL;
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494 *pulOverlaidCounter4 = 0UL;
\r
496 /* This loop performs the main function of the task, which is blocking
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497 on a message queue then processing each message as it arrives. */
\r
500 /* Wait for the next message to arrive. */
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501 xQueueReceive( xQueue, &lMessage, portMAX_DELAY );
\r
505 case configREG_TEST_1_STILL_EXECUTING :
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506 case configREG_TEST_2_STILL_EXECUTING :
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507 case configTIMER_STILL_EXECUTING :
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508 /* Message from the first or second register check task, or
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509 the timer callback function. Increment the count of the
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510 number of times the message source has sent the message as
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511 the message source must still be executed. */
\r
512 ( ulStillAliveCounts[ lMessage ] )++;
\r
515 case configPRINT_SYSTEM_STATUS :
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516 /* Message from tick hook, time to print out the system
\r
517 status. If messages have stopped arriving from either of
\r
518 the first two reg test task or the timer callback then the
\r
519 status must be set to fail. */
\r
520 if( ( ulStillAliveCounts[ 0 ] == 0 ) || ( ulStillAliveCounts[ 1 ] == 0 ) || ( ulStillAliveCounts[ 2 ] == 0 ) )
\r
522 /* One or both of the test tasks are no longer sending
\r
523 'still alive' messages. */
\r
524 pcStatusMessage = "FAIL\r\n";
\r
528 /* Reset the count of 'still alive' messages. */
\r
529 memset( ( void * ) ulStillAliveCounts, 0x00, sizeof( ulStillAliveCounts ) );
\r
532 /* Check that the register test 3 task is still incrementing
\r
533 its counter, and therefore still running. */
\r
534 if( ulLastRegTest3CountValue == *pulOverlaidCounter3 )
\r
536 pcStatusMessage = "FAIL\r\n";
\r
538 ulLastRegTest3CountValue = *pulOverlaidCounter3;
\r
540 /* Check that the register test 4 task is still incrementing
\r
541 its counter, and therefore still running. */
\r
542 if( ulLastRegTest4Value == *pulOverlaidCounter4 )
\r
544 pcStatusMessage = "FAIL\r\n";
\r
546 ulLastRegTest4Value = *pulOverlaidCounter4;
\r
548 /**** print pcStatusMessage here. ****/
\r
549 prvITMPrintString( pcStatusMessage );
\r
553 /* Something unexpected happened. Delete this task so the
\r
554 error is apparent (no output will be displayed). */
\r
560 /*-----------------------------------------------------------*/
\r
562 static void prvTestMemoryRegions( void )
\r
567 /* The check task (from which this function is called) is created in the
\r
568 Privileged mode. The privileged array can be both read from and written
\r
569 to while this task is privileged. */
\r
570 cPrivilegedOnlyAccessArray[ 0 ] = 'a';
\r
571 if( cPrivilegedOnlyAccessArray[ 0 ] != 'a' )
\r
573 /* Something unexpected happened. Delete this task so the error is
\r
574 apparent (no output will be displayed). */
\r
578 /* Writing off the end of the RAM allocated to this task will *NOT* cause a
\r
579 protection fault because the task is still executing in a privileged mode.
\r
580 Uncomment the following to test. */
\r
581 /*cPrivilegedOnlyAccessArray[ mainPRIVILEGED_ONLY_ACCESS_ALIGN_SIZE ] = 'a';*/
\r
583 /* Now set the task into user mode. */
\r
584 portSWITCH_TO_USER_MODE();
\r
586 /* Accessing the privileged only array will now cause a fault. Uncomment
\r
587 the following line to test. */
\r
588 /*cPrivilegedOnlyAccessArray[ 0 ] = 'a';*/
\r
590 /* The read/write array can still be successfully read and written. */
\r
591 for( x = 0; x < mainREAD_WRITE_ALIGN_SIZE; x++ )
\r
593 cReadWriteArray[ x ] = 'a';
\r
594 if( cReadWriteArray[ x ] != 'a' )
\r
596 /* Something unexpected happened. Delete this task so the error is
\r
597 apparent (no output will be displayed). */
\r
602 /* But attempting to read or write off the end of the RAM allocated to this
\r
603 task will cause a fault. Uncomment either of the following two lines to
\r
605 /* cReadWriteArray[ 0 ] = cReadWriteArray[ -1 ]; */
\r
606 /* cReadWriteArray[ mainREAD_WRITE_ALIGN_SIZE ] = 0x00; */
\r
608 /* The read only array can be successfully read... */
\r
609 for( x = 0; x < mainREAD_ONLY_ALIGN_SIZE; x++ )
\r
611 cTemp = cReadOnlyArray[ x ];
\r
614 /* ...but cannot be written. Uncomment the following line to test. */
\r
615 /* cReadOnlyArray[ 0 ] = 'a'; */
\r
617 /* Writing to the first and last locations in the stack array should not
\r
618 cause a protection fault. Note that doing this will cause the kernel to
\r
619 detect a stack overflow if configCHECK_FOR_STACK_OVERFLOW is greater than
\r
620 1, hence the test is commented out by default. */
\r
621 /* xCheckTaskStack[ 0 ] = 0;
\r
622 xCheckTaskStack[ mainCHECK_TASK_STACK_SIZE_WORDS - 1 ] = 0; */
\r
624 /* Writing off either end of the stack array should cause a protection
\r
625 fault, uncomment either of the following two lines to test. */
\r
626 /* xCheckTaskStack[ -1 ] = 0; */
\r
627 /* xCheckTaskStack[ mainCHECK_TASK_STACK_SIZE_WORDS ] = 0; */
\r
631 /*-----------------------------------------------------------*/
\r
633 static void prvExerciseEventGroupAPI( void )
\r
635 EventGroupHandle_t xEventGroup;
\r
637 const EventBits_t xBitsToWaitFor = ( EventBits_t ) 0xff, xBitToClear = ( EventBits_t ) 0x01;
\r
639 /* Exercise some event group functions. */
\r
640 xEventGroup = xEventGroupCreate();
\r
641 configASSERT( xEventGroup );
\r
643 /* No bits should be set. */
\r
644 xBits = xEventGroupWaitBits( xEventGroup, xBitsToWaitFor, pdTRUE, pdFALSE, mainDONT_BLOCK );
\r
645 configASSERT( xBits == ( EventBits_t ) 0 );
\r
647 /* Set bits and read back to ensure the bits were set. */
\r
648 xEventGroupSetBits( xEventGroup, xBitsToWaitFor );
\r
649 xBits = xEventGroupGetBits( xEventGroup );
\r
650 configASSERT( xBits == xBitsToWaitFor );
\r
652 /* Clear a bit and read back again using a different API function. */
\r
653 xEventGroupClearBits( xEventGroup, xBitToClear );
\r
654 xBits = xEventGroupSync( xEventGroup, 0x00, xBitsToWaitFor, mainDONT_BLOCK );
\r
655 configASSERT( xBits == ( xBitsToWaitFor & ~xBitToClear ) );
\r
657 /* Finished with the event group. */
\r
658 vEventGroupDelete( xEventGroup );
\r
660 /*-----------------------------------------------------------*/
\r
662 static void prvExerciseSemaphoreAPI( void )
\r
664 SemaphoreHandle_t xSemaphore;
\r
665 const UBaseType_t uxMaxCount = 5, uxInitialCount = 0;
\r
667 /* Most of the semaphore API is common to the queue API and is already being
\r
668 used. This function uses a few semaphore functions that are unique to the
\r
669 RTOS objects, rather than generic and used by queues also.
\r
671 First create and use a counting semaphore. */
\r
672 xSemaphore = xSemaphoreCreateCounting( uxMaxCount, uxInitialCount );
\r
673 configASSERT( xSemaphore );
\r
675 /* Give the semaphore a couple of times and ensure the count is returned
\r
677 xSemaphoreGive( xSemaphore );
\r
678 xSemaphoreGive( xSemaphore );
\r
679 configASSERT( uxSemaphoreGetCount( xSemaphore ) == 2 );
\r
680 vSemaphoreDelete( xSemaphore );
\r
682 /* Create a recursive mutex, and ensure the mutex holder and count are
\r
683 returned returned correctly. */
\r
684 xSemaphore = xSemaphoreCreateRecursiveMutex();
\r
685 configASSERT( uxSemaphoreGetCount( xSemaphore ) == 1 );
\r
686 configASSERT( xSemaphore );
\r
687 xSemaphoreTakeRecursive( xSemaphore, mainDONT_BLOCK );
\r
688 xSemaphoreTakeRecursive( xSemaphore, mainDONT_BLOCK );
\r
689 configASSERT( xSemaphoreGetMutexHolder( xSemaphore ) == xTaskGetCurrentTaskHandle() );
\r
690 configASSERT( xSemaphoreGetMutexHolder( xSemaphore ) == xTaskGetHandle( mainTASK_TO_DELETE_NAME ) );
\r
691 xSemaphoreGiveRecursive( xSemaphore );
\r
692 configASSERT( uxSemaphoreGetCount( xSemaphore ) == 0 );
\r
693 xSemaphoreGiveRecursive( xSemaphore );
\r
694 configASSERT( uxSemaphoreGetCount( xSemaphore ) == 1 );
\r
695 configASSERT( xSemaphoreGetMutexHolder( xSemaphore ) == NULL );
\r
696 vSemaphoreDelete( xSemaphore );
\r
698 /* Create a normal mutex, and sure the mutex holder and count are returned
\r
699 returned correctly. */
\r
700 xSemaphore = xSemaphoreCreateMutex();
\r
701 configASSERT( xSemaphore );
\r
702 xSemaphoreTake( xSemaphore, mainDONT_BLOCK );
\r
703 xSemaphoreTake( xSemaphore, mainDONT_BLOCK );
\r
704 configASSERT( uxSemaphoreGetCount( xSemaphore ) == 0 ); /* Not recursive so can only be 1. */
\r
705 configASSERT( xSemaphoreGetMutexHolder( xSemaphore ) == xTaskGetCurrentTaskHandle() );
\r
706 xSemaphoreGive( xSemaphore );
\r
707 configASSERT( uxSemaphoreGetCount( xSemaphore ) == 1 );
\r
708 configASSERT( xSemaphoreGetMutexHolder( xSemaphore ) == NULL );
\r
709 vSemaphoreDelete( xSemaphore );
\r
711 /*-----------------------------------------------------------*/
\r
713 static void prvExerciseTaskNotificationAPI( void )
\r
715 uint32_t ulNotificationValue;
\r
716 BaseType_t xReturned;
\r
718 /* The task should not yet have a notification pending. */
\r
719 xReturned = xTaskNotifyWait( 0, 0, &ulNotificationValue, mainDONT_BLOCK );
\r
720 configASSERT( xReturned == pdFAIL );
\r
721 configASSERT( ulNotificationValue == 0UL );
\r
723 /* Exercise the 'give' and 'take' versions of the notification API. */
\r
724 xTaskNotifyGive( xTaskGetCurrentTaskHandle() );
\r
725 xTaskNotifyGive( xTaskGetCurrentTaskHandle() );
\r
726 ulNotificationValue = ulTaskNotifyTake( pdTRUE, mainDONT_BLOCK );
\r
727 configASSERT( ulNotificationValue == 2 );
\r
729 /* Exercise the 'notify' and 'clear' API. */
\r
730 ulNotificationValue = 20;
\r
731 xTaskNotify( xTaskGetCurrentTaskHandle(), ulNotificationValue, eSetValueWithOverwrite );
\r
732 ulNotificationValue = 0;
\r
733 xReturned = xTaskNotifyWait( 0, 0, &ulNotificationValue, mainDONT_BLOCK );
\r
734 configASSERT( xReturned == pdPASS );
\r
735 configASSERT( ulNotificationValue == 20 );
\r
736 xTaskNotify( xTaskGetCurrentTaskHandle(), ulNotificationValue, eSetValueWithOverwrite );
\r
737 xReturned = xTaskNotifyStateClear( NULL );
\r
738 configASSERT( xReturned == pdTRUE ); /* First time a notification was pending. */
\r
739 xReturned = xTaskNotifyStateClear( NULL );
\r
740 configASSERT( xReturned == pdFALSE ); /* Second time the notification was already clear. */
\r
742 /*-----------------------------------------------------------*/
\r
744 static void prvTaskToDelete( void *pvParameters )
\r
746 /* Remove compiler warnings about unused parameters. */
\r
747 ( void ) pvParameters;
\r
749 /* Check the enter and exit critical macros are working correctly. If the
\r
750 SVC priority is below configMAX_SYSCALL_INTERRUPT_PRIORITY then this will
\r
752 taskENTER_CRITICAL();
\r
753 taskEXIT_CRITICAL();
\r
755 /* Exercise the API of various RTOS objects. */
\r
756 prvExerciseEventGroupAPI();
\r
757 prvExerciseSemaphoreAPI();
\r
758 prvExerciseTaskNotificationAPI();
\r
760 /* For code coverage test purposes it is deleted by the Idle task. */
\r
761 configASSERT( uxTaskGetStackHighWaterMark( NULL ) > 0 );
\r
762 vTaskSuspend( NULL );
\r
764 /*-----------------------------------------------------------*/
\r
766 void vApplicationIdleHook( void )
\r
768 volatile const uint32_t *pul;
\r
769 volatile uint32_t ulReadData;
\r
771 /* The idle task, and therefore this function, run in Supervisor mode and
\r
772 can therefore access all memory. Try reading from corners of flash and
\r
773 RAM to ensure a memory fault does not occur.
\r
775 Start with the edges of the privileged data area. */
\r
776 pul = __privileged_data_start__;
\r
778 pul = __privileged_data_end__ - 1;
\r
781 /* Next the standard SRAM area. */
\r
782 pul = __SRAM_segment_end__ - 1;
\r
785 /* And the standard Flash area - the start of which is marked for
\r
786 privileged access only. */
\r
787 pul = __FLASH_segment_start__;
\r
789 pul = __FLASH_segment_end__ - 1;
\r
792 /* Reading off the end of Flash or SRAM space should cause a fault.
\r
793 Uncomment one of the following two pairs of lines to test. */
\r
795 /* pul = __FLASH_segment_end__ + 4;
\r
796 ulReadData = *pul; */
\r
798 /* pul = __SRAM_segment_end__ + 1;
\r
799 ulReadData = *pul; */
\r
801 /* One task is created purely so it can be deleted - done for code coverage
\r
803 if( xTaskToDelete != NULL )
\r
805 vTaskDelete( xTaskToDelete );
\r
806 xTaskToDelete = NULL;
\r
809 ( void ) ulReadData;
\r
811 /*-----------------------------------------------------------*/
\r
813 static void prvOldStyleUserModeTask( void *pvParameters )
\r
815 const volatile uint32_t *pulStandardPeripheralRegister = ( volatile uint32_t * ) 0x40000000;
\r
816 volatile const uint32_t *pul;
\r
817 volatile uint32_t ulReadData;
\r
819 /* The following lines are commented out to prevent the unused variable
\r
820 compiler warnings when the tests that use the variable are also commented out. */
\r
821 /* extern uint32_t __privileged_functions_start__[]; */
\r
822 /* const volatile uint32_t *pulSystemPeripheralRegister = ( volatile uint32_t * ) 0xe000e014; */
\r
824 ( void ) pvParameters;
\r
826 /* This task is created in User mode using the original xTaskCreate() API
\r
827 function. It should have access to all Flash and RAM except that marked
\r
828 as Privileged access only. Reading from the start and end of the non-
\r
829 privileged RAM should not cause a problem (the privileged RAM is the first
\r
830 block at the bottom of the RAM memory). */
\r
831 pul = __privileged_data_end__ + 1;
\r
833 pul = __SRAM_segment_end__ - 1;
\r
836 /* Likewise reading from the start and end of the non-privileged Flash
\r
837 should not be a problem (the privileged Flash is the first block at the
\r
838 bottom of the Flash memory). */
\r
839 pul = __privileged_functions_end__ + 1;
\r
841 pul = __FLASH_segment_end__ - 1;
\r
844 /* Standard peripherals are accessible. */
\r
845 ulReadData = *pulStandardPeripheralRegister;
\r
847 /* System peripherals are not accessible. Uncomment the following line
\r
848 to test. Also uncomment the declaration of pulSystemPeripheralRegister
\r
849 at the top of this function.
\r
850 ulReadData = *pulSystemPeripheralRegister; */
\r
852 /* Reading from anywhere inside the privileged Flash or RAM should cause a
\r
853 fault. This can be tested by uncommenting any of the following pairs of
\r
854 lines. Also uncomment the declaration of __privileged_functions_start__
\r
855 at the top of this function. */
\r
857 /* pul = __privileged_functions_start__;
\r
858 ulReadData = *pul; */
\r
860 /*pul = __privileged_functions_end__ - 1;
\r
861 ulReadData = *pul;*/
\r
863 /*pul = __privileged_data_start__;
\r
864 ulReadData = *pul;*/
\r
866 /*pul = __privileged_data_end__ - 1;
\r
867 ulReadData = *pul;*/
\r
869 /* Must not just run off the end of a task function, so delete this task.
\r
870 Note that because this task was created using xTaskCreate() the stack was
\r
871 allocated dynamically and I have not included any code to free it again. */
\r
872 vTaskDelete( NULL );
\r
874 ( void ) ulReadData;
\r
876 /*-----------------------------------------------------------*/
\r
878 static void prvOldStylePrivilegedModeTask( void *pvParameters )
\r
880 volatile const uint32_t *pul;
\r
881 volatile uint32_t ulReadData;
\r
882 const volatile uint32_t *pulSystemPeripheralRegister = ( volatile uint32_t * ) 0xe000e014; /* Systick */
\r
883 /*const volatile uint32_t *pulStandardPeripheralRegister = ( volatile uint32_t * ) 0x40000000;*/
\r
885 ( void ) pvParameters;
\r
887 /* This task is created in Privileged mode using the original xTaskCreate()
\r
888 API function. It should have access to all Flash and RAM including that
\r
889 marked as Privileged access only. So reading from the start and end of the
\r
890 non-privileged RAM should not cause a problem (the privileged RAM is the
\r
891 first block at the bottom of the RAM memory). */
\r
892 pul = __privileged_data_end__ + 1;
\r
894 pul = __SRAM_segment_end__ - 1;
\r
897 /* Likewise reading from the start and end of the non-privileged Flash
\r
898 should not be a problem (the privileged Flash is the first block at the
\r
899 bottom of the Flash memory). */
\r
900 pul = __privileged_functions_end__ + 1;
\r
902 pul = __FLASH_segment_end__ - 1;
\r
905 /* Reading from anywhere inside the privileged Flash or RAM should also
\r
906 not be a problem. */
\r
907 pul = __privileged_functions_start__;
\r
909 pul = __privileged_functions_end__ - 1;
\r
911 pul = __privileged_data_start__;
\r
913 pul = __privileged_data_end__ - 1;
\r
916 /* Finally, accessing both System and normal peripherals should both be
\r
918 ulReadData = *pulSystemPeripheralRegister;
\r
919 /*ulReadData = *pulStandardPeripheralRegister;*/
\r
921 /* Must not just run off the end of a task function, so delete this task.
\r
922 Note that because this task was created using xTaskCreate() the stack was
\r
923 allocated dynamically and I have not included any code to free it again. */
\r
924 vTaskDelete( NULL );
\r
926 ( void ) ulReadData;
\r
928 /*-----------------------------------------------------------*/
\r
930 void vMainDeleteMe( void )
\r
932 vTaskDelete( NULL );
\r
934 /*-----------------------------------------------------------*/
\r
936 void vMainSendImAlive( QueueHandle_t xHandle, uint32_t ulTaskNumber )
\r
938 if( xHandle != NULL )
\r
940 xQueueSend( xHandle, &ulTaskNumber, mainDONT_BLOCK );
\r
943 /*-----------------------------------------------------------*/
\r
945 static void prvSetupHardware( void )
\r
947 extern void SystemInit( void );
\r
948 extern uint32_t __Vectors[];
\r
950 /* Assuming downloading code via the debugger - so ensure the hardware
\r
951 is using the vector table downloaded with the application. */
\r
952 mainVTOR = ( uint32_t ) __Vectors;
\r
954 #if ( ( configASSERT_DEFINED == 1 ) && ( defined ( __GNUC__ ) ) )
\r
956 /* Sanity check linker configuration sizes sections adequately. */
\r
957 const uint32_t ulPrivilegedFunctionsActualEnd = ( uint32_t ) __privileged_functions_actual_end__;
\r
958 const uint32_t ulPrivilegedDataActualEnd = ( uint32_t ) __privileged_data_actual_end__;
\r
959 const uint32_t ulPrivilegedFunctionsEnd = ( uint32_t ) __privileged_functions_end__;
\r
960 const uint32_t ulPrivilegedDataEnd = ( uint32_t ) __privileged_data_end__;
\r
962 configASSERT( ulPrivilegedFunctionsActualEnd < ulPrivilegedFunctionsEnd );
\r
963 configASSERT( ulPrivilegedDataActualEnd < ulPrivilegedDataEnd );
\r
965 /* Clear the privileged data to 0 as the C start up code is only set to
\r
966 clear the non-privileged bss. */
\r
967 memset( ( void * ) __privileged_data_start__, 0x00, ( size_t ) __privileged_data_actual_end__ - ( size_t ) __privileged_data_start__ );
\r
972 SystemCoreClockUpdate();
\r
974 /*-----------------------------------------------------------*/
\r
976 void vApplicationTickHook( void )
\r
978 static uint32_t ulCallCount = 0;
\r
979 const uint32_t ulCallsBetweenSends = pdMS_TO_TICKS( 5000 );
\r
980 const uint32_t ulMessage = configPRINT_SYSTEM_STATUS;
\r
981 portBASE_TYPE xDummy;
\r
983 /* If configUSE_TICK_HOOK is set to 1 then this function will get called
\r
984 from each RTOS tick. It is called from the tick interrupt and therefore
\r
985 will be executing in the privileged state. */
\r
989 /* Is it time to print out the pass/fail message again? */
\r
990 if( ulCallCount >= ulCallsBetweenSends )
\r
994 /* Send a message to the check task to command it to check that all
\r
995 the tasks are still running then print out the status.
\r
997 This is running in an ISR so has to use the "FromISR" version of
\r
998 xQueueSend(). Because it is in an ISR it is running with privileges
\r
999 so can access xGlobalScopeCheckQueue directly. */
\r
1000 xQueueSendFromISR( xGlobalScopeCheckQueue, &ulMessage, &xDummy );
\r
1003 /*-----------------------------------------------------------*/
\r
1005 void vApplicationStackOverflowHook( TaskHandle_t pxTask, char *pcTaskName )
\r
1007 /* If configCHECK_FOR_STACK_OVERFLOW is set to either 1 or 2 then this
\r
1008 function will automatically get called if a task overflows its stack. */
\r
1010 ( void ) pcTaskName;
\r
1013 /*-----------------------------------------------------------*/
\r
1015 void vApplicationMallocFailedHook( void )
\r
1017 /* If configUSE_MALLOC_FAILED_HOOK is set to 1 then this function will
\r
1018 be called automatically if a call to pvPortMalloc() fails. pvPortMalloc()
\r
1019 is called automatically when a task, queue or semaphore is created. */
\r
1022 /*-----------------------------------------------------------*/
\r
1024 static void prvTimerCallback( TimerHandle_t xExpiredTimer )
\r
1028 /* The count of the number of times this timer has expired is saved in the
\r
1029 timer's ID. Obtain the current count. */
\r
1030 ulCount = ( uint32_t ) pvTimerGetTimerID( xTimer );
\r
1032 /* Increment the count, and save it back into the timer's ID. */
\r
1034 vTimerSetTimerID( xTimer, ( void * ) ulCount );
\r
1036 /* Let the check task know the timer is still running. */
\r
1037 vMainSendImAlive( xGlobalScopeCheckQueue, configTIMER_STILL_EXECUTING );
\r
1039 /*-----------------------------------------------------------*/
\r
1041 /* configUSE_STATIC_ALLOCATION is set to 1, so the application must provide an
\r
1042 implementation of vApplicationGetIdleTaskMemory() to provide the memory that is
\r
1043 used by the Idle task. */
\r
1044 void vApplicationGetIdleTaskMemory( StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize )
\r
1046 /* If the buffers to be provided to the Idle task are declared inside this
\r
1047 function then they must be declared static - otherwise they will be allocated on
\r
1048 the stack and so not exists after this function exits. */
\r
1049 static StaticTask_t xIdleTaskTCB;
\r
1050 static StackType_t uxIdleTaskStack[ configMINIMAL_STACK_SIZE ];
\r
1052 /* Pass out a pointer to the StaticTask_t structure in which the Idle task's
\r
1053 state will be stored. */
\r
1054 *ppxIdleTaskTCBBuffer = &xIdleTaskTCB;
\r
1056 /* Pass out the array that will be used as the Idle task's stack. */
\r
1057 *ppxIdleTaskStackBuffer = uxIdleTaskStack;
\r
1059 /* Pass out the size of the array pointed to by *ppxIdleTaskStackBuffer.
\r
1060 Note that, as the array is necessarily of type StackType_t,
\r
1061 configMINIMAL_STACK_SIZE is specified in words, not bytes. */
\r
1062 *pulIdleTaskStackSize = configMINIMAL_STACK_SIZE;
\r
1064 /*-----------------------------------------------------------*/
\r
1066 /* configUSE_STATIC_ALLOCATION and configUSE_TIMERS are both set to 1, so the
\r
1067 application must provide an implementation of vApplicationGetTimerTaskMemory()
\r
1068 to provide the memory that is used by the Timer service task. */
\r
1069 void vApplicationGetTimerTaskMemory( StaticTask_t **ppxTimerTaskTCBBuffer, StackType_t **ppxTimerTaskStackBuffer, uint32_t *pulTimerTaskStackSize )
\r
1071 /* If the buffers to be provided to the Timer task are declared inside this
\r
1072 function then they must be declared static - otherwise they will be allocated on
\r
1073 the stack and so not exists after this function exits. */
\r
1074 static StaticTask_t xTimerTaskTCB;
\r
1075 static StackType_t uxTimerTaskStack[ configTIMER_TASK_STACK_DEPTH ];
\r
1077 /* Pass out a pointer to the StaticTask_t structure in which the Timer
\r
1078 task's state will be stored. */
\r
1079 *ppxTimerTaskTCBBuffer = &xTimerTaskTCB;
\r
1081 /* Pass out the array that will be used as the Timer task's stack. */
\r
1082 *ppxTimerTaskStackBuffer = uxTimerTaskStack;
\r
1084 /* Pass out the size of the array pointed to by *ppxTimerTaskStackBuffer.
\r
1085 Note that, as the array is necessarily of type StackType_t,
\r
1086 configMINIMAL_STACK_SIZE is specified in words, not bytes. */
\r
1087 *pulTimerTaskStackSize = configTIMER_TASK_STACK_DEPTH;
\r
1089 /*-----------------------------------------------------------*/
\r
1091 static void prvITMPrintString( const char *pcString )
\r
1093 while( *pcString != 0x00 )
\r
1095 ITM_SendChar( *pcString );
\r
1099 /*-----------------------------------------------------------*/
\r
1101 static void prvRegTest3Task( void *pvParameters )
\r
1103 /* Although the regtest task is written in assembler, its entry point is
\r
1104 written in C for convenience of checking the task parameter is being passed
\r
1106 if( pvParameters == configREG_TEST_TASK_3_PARAMETER )
\r
1108 /* Start the part of the test that is written in assembler. */
\r
1109 vRegTest3Implementation();
\r
1112 /* The following line will only execute if the task parameter is found to
\r
1113 be incorrect. The check task will detect that the regtest loop counter is
\r
1114 not being incremented and flag an error. */
\r
1115 vTaskDelete( NULL );
\r
1117 /*-----------------------------------------------------------*/
\r
1119 static void prvRegTest4Task( void *pvParameters )
\r
1121 /* Although the regtest task is written in assembler, its entry point is
\r
1122 written in C for convenience of checking the task parameter is being passed
\r
1124 if( pvParameters == configREG_TEST_TASK_4_PARAMETER )
\r
1126 /* Start the part of the test that is written in assembler. */
\r
1127 vRegTest4Implementation();
\r
1130 /* The following line will only execute if the task parameter is found to
\r
1131 be incorrect. The check task will detect that the regtest loop counter is
\r
1132 not being incremented and flag an error. */
\r
1133 vTaskDelete( NULL );
\r
1135 /*-----------------------------------------------------------*/
\r
projects / freertos / blob