2 FreeRTOS V9.0.0 - Copyright (C) 2016 Real Time Engineers Ltd.
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5 VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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7 This file is part of the FreeRTOS distribution.
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9 FreeRTOS is free software; you can redistribute it and/or modify it under
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10 the terms of the GNU General Public License (version 2) as published by the
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11 Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception.
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13 ***************************************************************************
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14 >>! NOTE: The modification to the GPL is included to allow you to !<<
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15 >>! distribute a combined work that includes FreeRTOS without being !<<
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16 >>! obliged to provide the source code for proprietary components !<<
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17 >>! outside of the FreeRTOS kernel. !<<
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18 ***************************************************************************
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20 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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21 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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22 FOR A PARTICULAR PURPOSE. Full license text is available on the following
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23 link: http://www.freertos.org/a00114.html
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25 ***************************************************************************
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27 * FreeRTOS provides completely free yet professionally developed, *
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28 * robust, strictly quality controlled, supported, and cross *
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29 * platform software that is more than just the market leader, it *
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30 * is the industry's de facto standard. *
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32 * Help yourself get started quickly while simultaneously helping *
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33 * to support the FreeRTOS project by purchasing a FreeRTOS *
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34 * tutorial book, reference manual, or both: *
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35 * http://www.FreeRTOS.org/Documentation *
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37 ***************************************************************************
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39 http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
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40 the FAQ page "My application does not run, what could be wrong?". Have you
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41 defined configASSERT()?
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43 http://www.FreeRTOS.org/support - In return for receiving this top quality
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44 embedded software for free we request you assist our global community by
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45 participating in the support forum.
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47 http://www.FreeRTOS.org/training - Investing in training allows your team to
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48 be as productive as possible as early as possible. Now you can receive
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49 FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
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50 Ltd, and the world's leading authority on the world's leading RTOS.
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52 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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53 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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54 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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56 http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
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57 Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
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59 http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
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60 Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
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61 licenses offer ticketed support, indemnification and commercial middleware.
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63 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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64 engineered and independently SIL3 certified version for use in safety and
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65 mission critical applications that require provable dependability.
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72 * This file demonstrates the use of FreeRTOS-MPU. It creates tasks in both
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73 * User mode and Privileged mode, and using both the xTaskCreate() and
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74 * xTaskCreateRestricted() API functions. The purpose of each created task is
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75 * documented in the comments above the task function prototype (in this file),
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76 * with the task behaviour demonstrated and documented within the task function
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79 * In addition a queue is used to demonstrate passing data between
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80 * protected/restricted tasks as well as passing data between an interrupt and
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81 * a protected/restricted task. A software timer is also used.
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83 * The system status is printed to ITM channel 0, where it can be viewed in the
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84 * Keil serial/debug window (a compatible SW debug interface is required).
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87 /* Microchip includes. */
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90 /* Scheduler includes. */
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91 #include "FreeRTOS.h"
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96 #include "event_groups.h"
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98 /*-----------------------------------------------------------*/
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100 /* Misc constants. */
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101 #define mainDONT_BLOCK ( 0 )
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103 /* GCC specifics. */
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104 #define mainALIGN_TO( x ) __attribute__((aligned(x)))
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106 /* Hardware register addresses. */
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107 #define mainVTOR ( * ( volatile uint32_t * ) 0xE000ED08 )
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109 /* The period of the timer must be less than the rate at which
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110 configPRINT_SYSTEM_STATUS messages are sent to the check task - otherwise the
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111 check task will think the timer has stopped. */
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112 #define mainTIMER_PERIOD pdMS_TO_TICKS( 200 )
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114 /* The name of the task that is deleted by the Idle task is used in a couple of
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115 places, so is #defined. */
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116 #define mainTASK_TO_DELETE_NAME "DeleteMe"
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118 /*-----------------------------------------------------------*/
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119 /* Prototypes for functions that implement tasks. -----------*/
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120 /*-----------------------------------------------------------*/
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123 * NOTE: The filling and checking of the registers in the following two tasks
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124 * is only actually performed when the GCC compiler is used. Use of the
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125 * queue to communicate with the check task is done with all compilers.
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127 * Prototype for the first two register test tasks, which execute in User mode.
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128 * Amongst other things, these fill the CPU registers (other than the FPU
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129 * registers) with known values before checking that the registers still contain
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130 * the expected values. Each of the two tasks use different values so an error
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131 * in the context switch mechanism can be caught. Both tasks execute at the
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132 * idle priority so will get preempted regularly. Each task repeatedly sends a
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133 * message on a queue to a 'check' task so the check task knows the register
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134 * check task is still executing and has not detected any errors. If an error
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135 * is detected within the task the task is simply deleted so it no longer sends
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138 * For demonstration and test purposes, both tasks obtain access to the queue
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139 * handle in different ways; vRegTest1Implementation() is created in Privileged
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140 * mode and copies the queue handle to its local stack before setting itself to
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141 * User mode, and vRegTest2Implementation() receives the task handle using its
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144 extern void vRegTest1Implementation( void *pvParameters );
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145 extern void vRegTest2Implementation( void *pvParameters );
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148 * The second two register test tasks are similar to the first two, but do test
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149 * the floating point registers, execute in Privileged mode, and signal their
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150 * execution status to the 'check' task by incrementing a loop counter on each
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151 * iteration instead of sending a message on a queue. The loop counters use a
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152 * memory region to which the User mode 'check' task has read access.
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154 * The functions ending 'Implementation' are called by the register check tasks.
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156 static void prvRegTest3Task( void *pvParameters );
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157 extern void vRegTest3Implementation( void );
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158 static void prvRegTest4Task( void *pvParameters );
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159 extern void vRegTest4Implementation( void );
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162 * Prototype for the check task. The check task demonstrates various features
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163 * of the MPU before entering a loop where it waits for messages to arrive on a
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166 * Two types of messages can be processes:
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168 * 1) "I'm Alive" messages sent from the first two register test tasks and a
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169 * software timer callback, as described above.
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171 * 2) "Print Status commands" sent periodically by the tick hook function (and
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172 * therefore from within an interrupt) which commands the check task to write
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173 * either pass or fail to the terminal, depending on the status of the reg
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176 static void prvCheckTask( void *pvParameters );
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179 * Prototype for a task created in User mode using the original vTaskCreate()
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180 * API function. The task demonstrates the characteristics of such a task,
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181 * before simply deleting itself.
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183 static void prvOldStyleUserModeTask( void *pvParameters );
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186 * Prototype for a task created in Privileged mode using the original
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187 * vTaskCreate() API function. The task demonstrates the characteristics of
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188 * such a task, before simply deleting itself.
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190 static void prvOldStylePrivilegedModeTask( void *pvParameters );
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193 * A task that exercises the API of various RTOS objects before being deleted by
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194 * the Idle task. This is done for MPU API code coverage test purposes.
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196 static void prvTaskToDelete( void *pvParameters );
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199 * Functions called by prvTaskToDelete() to exercise the MPU API.
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201 static void prvExerciseEventGroupAPI( void );
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202 static void prvExerciseSemaphoreAPI( void );
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203 static void prvExerciseTaskNotificationAPI( void );
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206 * Just configures any clocks and IO necessary.
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208 static void prvSetupHardware( void );
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211 * Simply deletes the calling task. The function is provided only because it
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212 * is simpler to call from asm code than the normal vTaskDelete() API function.
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213 * It has the noinline attribute because it is called from asm code.
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215 void vMainDeleteMe( void ) __attribute__((noinline));
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218 * Used by the first two reg test tasks and a software timer callback function
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219 * to send messages to the check task. The message just lets the check task
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220 * know that the tasks and timer are still functioning correctly. If a reg test
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221 * task detects an error it will delete itself, and in so doing prevent itself
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222 * from sending any more 'I'm Alive' messages to the check task.
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224 void vMainSendImAlive( QueueHandle_t xHandle, uint32_t ulTaskNumber );
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227 * The check task is created with access to three memory regions (plus its
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228 * stack). Each memory region is configured with different parameters and
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229 * prvTestMemoryRegions() demonstrates what can and cannot be accessed for each
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230 * region. prvTestMemoryRegions() also demonstrates a task that was created
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231 * as a privileged task settings its own privilege level down to that of a user
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234 static void prvTestMemoryRegions( void );
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237 * Callback function used with the timer that uses the queue to send messages
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238 * to the check task.
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240 static void prvTimerCallback( TimerHandle_t xExpiredTimer );
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243 * Simple routine to print a string to ITM for viewing in the Keil serial debug
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246 static void prvITMPrintString( const char *pcString );
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248 /*-----------------------------------------------------------*/
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250 /* The handle of the queue used to communicate between tasks and between tasks
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251 and interrupts. Note that this is a global scope variable that falls outside of
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252 any MPU region. As such other techniques have to be used to allow the tasks
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253 to gain access to the queue. See the comments in the tasks themselves for
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254 further information. */
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255 QueueHandle_t xGlobalScopeCheckQueue = NULL;
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257 /* Holds the handle of a task that is deleted in the idle task hook - this is
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258 done for code coverage test purposes only. */
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259 static TaskHandle_t xTaskToDelete = NULL;
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261 /* The timer that periodically sends data to the check task on the queue. */
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262 static TimerHandle_t xTimer = NULL;
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264 #if defined ( __GNUC__ )
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265 extern uint32_t __FLASH_segment_start__[];
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266 extern uint32_t __FLASH_segment_end__[];
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267 extern uint32_t __SRAM_segment_start__[];
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268 extern uint32_t __SRAM_segment_end__[];
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269 extern uint32_t __privileged_functions_start__[];
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270 extern uint32_t __privileged_functions_end__[];
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271 extern uint32_t __privileged_data_start__[];
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272 extern uint32_t __privileged_data_end__[];
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273 extern uint32_t __privileged_functions_actual_end__[];
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274 extern uint32_t __privileged_data_actual_end__[];
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276 const uint32_t * __FLASH_segment_start__ = ( uint32_t * ) 0xE0000UL;
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277 const uint32_t * __FLASH_segment_end__ = ( uint32_t * ) 0x100000UL;
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278 const uint32_t * __SRAM_segment_start__ = ( uint32_t * ) 0x100000UL;
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279 const uint32_t * __SRAM_segment_end__ = ( uint32_t * ) 0x120000;
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280 const uint32_t * __privileged_functions_start__ = ( uint32_t * ) 0xE0000UL;
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281 const uint32_t * __privileged_functions_end__ = ( uint32_t * ) 0xE4000UL;
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282 const uint32_t * __privileged_data_start__ = ( uint32_t * ) 0x100000UL;
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283 const uint32_t * __privileged_data_end__ = ( uint32_t * ) 0x100200UL;
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285 /*-----------------------------------------------------------*/
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286 /* Data used by the 'check' task. ---------------------------*/
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287 /*-----------------------------------------------------------*/
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289 /* Define the constants used to allocate the check task stack. Note that the
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290 stack size is defined in words, not bytes. */
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291 #define mainCHECK_TASK_STACK_SIZE_WORDS 128
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292 #define mainCHECK_TASK_STACK_ALIGNMENT ( mainCHECK_TASK_STACK_SIZE_WORDS * sizeof( portSTACK_TYPE ) )
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294 /* Declare the stack that will be used by the check task. The kernel will
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295 automatically create an MPU region for the stack. The stack alignment must
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296 match its size, so if 128 words are reserved for the stack then it must be
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297 aligned to ( 128 * 4 ) bytes. */
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298 static portSTACK_TYPE xCheckTaskStack[ mainCHECK_TASK_STACK_SIZE_WORDS ] mainALIGN_TO( mainCHECK_TASK_STACK_ALIGNMENT );
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300 /* Declare three arrays - an MPU region will be created for each array
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301 using the TaskParameters_t structure below. THIS IS JUST TO DEMONSTRATE THE
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302 MPU FUNCTIONALITY, the data is not used by the check tasks primary function
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303 of monitoring the reg test tasks and printing out status information.
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305 Note that the arrays allocate slightly more RAM than is actually assigned to
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306 the MPU region. This is to permit writes off the end of the array to be
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307 detected even when the arrays are placed in adjacent memory locations (with no
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308 gaps between them). The align size must be a power of two. */
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309 #define mainREAD_WRITE_ARRAY_SIZE 130
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310 #define mainREAD_WRITE_ALIGN_SIZE 128
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311 char cReadWriteArray[ mainREAD_WRITE_ARRAY_SIZE ] mainALIGN_TO( mainREAD_WRITE_ALIGN_SIZE );
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313 #define mainREAD_ONLY_ARRAY_SIZE 260
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314 #define mainREAD_ONLY_ALIGN_SIZE 256
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315 char cReadOnlyArray[ mainREAD_ONLY_ARRAY_SIZE ] mainALIGN_TO( mainREAD_ONLY_ALIGN_SIZE );
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317 #define mainPRIVILEGED_ONLY_ACCESS_ARRAY_SIZE 130
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318 #define mainPRIVILEGED_ONLY_ACCESS_ALIGN_SIZE 128
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319 char cPrivilegedOnlyAccessArray[ mainPRIVILEGED_ONLY_ACCESS_ALIGN_SIZE ] mainALIGN_TO( mainPRIVILEGED_ONLY_ACCESS_ALIGN_SIZE );
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321 /* The following two variables are used to communicate the status of the second
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322 two register check tasks (tasks 3 and 4) to the check task. If the variables
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323 keep incrementing, then the register check tasks have not discovered any errors.
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324 If a variable stops incrementing, then an error has been found. The variables
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325 overlay the array that the check task has access to so they can be read by the
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326 check task without causing a memory fault. The check task has the highest
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327 priority so will have finished with the array before the register test tasks
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328 start to access it. */
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329 volatile uint32_t *pulRegTest3LoopCounter = ( uint32_t * ) &( cReadWriteArray[ 0 ] ), *pulRegTest4LoopCounter = ( uint32_t * ) &( cReadWriteArray[ 4 ] );
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331 /* Fill in a TaskParameters_t structure to define the check task - this is the
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332 structure passed to the xTaskCreateRestricted() function. */
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333 static const TaskParameters_t xCheckTaskParameters =
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335 prvCheckTask, /* pvTaskCode - the function that implements the task. */
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336 "Check", /* pcName */
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337 mainCHECK_TASK_STACK_SIZE_WORDS, /* usStackDepth - defined in words, not bytes. */
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338 ( void * ) 0x12121212, /* pvParameters - this value is just to test that the parameter is being passed into the task correctly. */
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339 ( 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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340 xCheckTaskStack, /* puxStackBuffer - the array to use as the task stack, as declared above. */
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342 /* xRegions - In this case the xRegions array is used to create MPU regions
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343 for all three of the arrays declared directly above. Each MPU region is
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344 created with different parameters. Again, THIS IS JUST TO DEMONSTRATE THE
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345 MPU FUNCTIONALITY, the data is not used by the check tasks primary function
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346 of monitoring the reg test tasks and printing out status information.*/
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348 /* Base address Length Parameters */
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349 { cReadWriteArray, mainREAD_WRITE_ALIGN_SIZE, portMPU_REGION_READ_WRITE },
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350 { cReadOnlyArray, mainREAD_ONLY_ALIGN_SIZE, portMPU_REGION_READ_ONLY },
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351 { cPrivilegedOnlyAccessArray, mainPRIVILEGED_ONLY_ACCESS_ALIGN_SIZE, portMPU_REGION_PRIVILEGED_READ_WRITE }
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357 /*-----------------------------------------------------------*/
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358 /* Data used by the 'reg test' tasks. -----------------------*/
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359 /*-----------------------------------------------------------*/
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361 /* Define the constants used to allocate the reg test task stacks. Note that
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362 that stack size is defined in words, not bytes. */
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363 #define mainREG_TEST_STACK_SIZE_WORDS 128
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364 #define mainREG_TEST_STACK_ALIGNMENT ( mainREG_TEST_STACK_SIZE_WORDS * sizeof( portSTACK_TYPE ) )
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366 /* Declare the stacks that will be used by the reg test tasks. The kernel will
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367 automatically create an MPU region for the stack. The stack alignment must
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368 match its size, so if 128 words are reserved for the stack then it must be
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369 aligned to ( 128 * 4 ) bytes. */
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370 static portSTACK_TYPE xRegTest1Stack[ mainREG_TEST_STACK_SIZE_WORDS ] mainALIGN_TO( mainREG_TEST_STACK_ALIGNMENT );
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371 static portSTACK_TYPE xRegTest2Stack[ mainREG_TEST_STACK_SIZE_WORDS ] mainALIGN_TO( mainREG_TEST_STACK_ALIGNMENT );
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373 /* Fill in a TaskParameters_t structure per reg test task to define the tasks. */
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374 static const TaskParameters_t xRegTest1Parameters =
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376 vRegTest1Implementation, /* pvTaskCode - the function that implements the task. */
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377 "RegTest1", /* pcName */
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378 mainREG_TEST_STACK_SIZE_WORDS, /* usStackDepth */
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379 ( 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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380 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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381 xRegTest1Stack, /* puxStackBuffer - the array to use as the task stack, as declared above. */
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382 { /* xRegions - this task does not use any non-stack data hence all members are zero. */
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383 /* Base address Length Parameters */
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384 { 0x00, 0x00, 0x00 },
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385 { 0x00, 0x00, 0x00 },
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386 { 0x00, 0x00, 0x00 }
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389 /*-----------------------------------------------------------*/
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391 static TaskParameters_t xRegTest2Parameters =
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393 vRegTest2Implementation, /* pvTaskCode - the function that implements the task. */
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394 "RegTest2", /* pcName */
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395 mainREG_TEST_STACK_SIZE_WORDS, /* usStackDepth */
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396 ( 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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397 tskIDLE_PRIORITY, /* uxPriority */
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398 xRegTest2Stack, /* puxStackBuffer - the array to use as the task stack, as declared above. */
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399 { /* xRegions - this task does not use any non-stack data hence all members are zero. */
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400 /* Base address Length Parameters */
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401 { 0x00, 0x00, 0x00 },
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402 { 0x00, 0x00, 0x00 },
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403 { 0x00, 0x00, 0x00 }
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407 /*-----------------------------------------------------------*/
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409 /*-----------------------------------------------------------*/
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410 /* Configures the task that is deleted. ---------------------*/
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411 /*-----------------------------------------------------------*/
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413 /* Define the constants used to allocate the stack of the task that is
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414 deleted. Note that that stack size is defined in words, not bytes. */
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415 #define mainDELETE_TASK_STACK_SIZE_WORDS 128
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416 #define mainTASK_TO_DELETE_STACK_ALIGNMENT ( mainDELETE_TASK_STACK_SIZE_WORDS * sizeof( portSTACK_TYPE ) )
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418 /* Declare the stack that will be used by the task that gets deleted. The
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419 kernel will automatically create an MPU region for the stack. The stack
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420 alignment must match its size, so if 128 words are reserved for the stack
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421 then it must be aligned to ( 128 * 4 ) bytes. */
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422 static portSTACK_TYPE xDeleteTaskStack[ mainDELETE_TASK_STACK_SIZE_WORDS ] mainALIGN_TO( mainTASK_TO_DELETE_STACK_ALIGNMENT );
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424 static TaskParameters_t xTaskToDeleteParameters =
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426 prvTaskToDelete, /* pvTaskCode - the function that implements the task. */
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427 mainTASK_TO_DELETE_NAME, /* pcName */
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428 mainDELETE_TASK_STACK_SIZE_WORDS, /* usStackDepth */
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429 ( 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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430 tskIDLE_PRIORITY + 1, /* uxPriority */
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431 xDeleteTaskStack, /* puxStackBuffer - the array to use as the task stack, as declared above. */
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432 { /* xRegions - this task does not use any non-stack data hence all members are zero. */
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433 /* Base address Length Parameters */
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434 { 0x00, 0x00, 0x00 },
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435 { 0x00, 0x00, 0x00 },
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436 { 0x00, 0x00, 0x00 }
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440 /*-----------------------------------------------------------*/
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444 prvSetupHardware();
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446 prvITMPrintString( "Starting\r\n" );
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448 /* Create the queue used to pass "I'm alive" messages to the check task. */
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449 xGlobalScopeCheckQueue = xQueueCreate( 1, sizeof( uint32_t ) );
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451 /* One check task uses the task parameter to receive the queue handle.
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452 This allows the file scope variable to be accessed from within the task.
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453 The pvParameters member of xRegTest2Parameters can only be set after the
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454 queue has been created so is set here. */
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455 xRegTest2Parameters.pvParameters = xGlobalScopeCheckQueue;
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457 /* Create three test tasks. Handles to the created tasks are not required,
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458 hence the second parameter is NULL. */
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459 xTaskCreateRestricted( &xRegTest1Parameters, NULL );
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460 xTaskCreateRestricted( &xRegTest2Parameters, NULL );
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461 xTaskCreateRestricted( &xCheckTaskParameters, NULL );
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463 /* Create a task that does nothing but ensure some of the MPU API functions
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464 can be called correctly, then get deleted. This is done for code coverage
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465 test purposes only. The task's handle is saved in xTaskToDelete so it can
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466 get deleted in the idle task hook. */
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467 xTaskCreateRestricted( &xTaskToDeleteParameters, &xTaskToDelete );
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469 /* Create the tasks that are created using the original xTaskCreate() API
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471 xTaskCreate( prvOldStyleUserModeTask, /* The function that implements the task. */
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472 "Task1", /* Text name for the task. */
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473 100, /* Stack depth in words. */
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474 NULL, /* Task parameters. */
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475 3, /* Priority and mode (user in this case). */
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479 xTaskCreate( prvOldStylePrivilegedModeTask, /* The function that implements the task. */
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480 "Task2", /* Text name for the task. */
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481 100, /* Stack depth in words. */
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482 NULL, /* Task parameters. */
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483 ( 3 | portPRIVILEGE_BIT ), /* Priority and mode. */
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487 /* Create the third and fourth register check tasks, as described at the top
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489 xTaskCreate( prvRegTest3Task, "Reg3", configMINIMAL_STACK_SIZE, configREG_TEST_TASK_3_PARAMETER, tskIDLE_PRIORITY, NULL );
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490 xTaskCreate( prvRegTest4Task, "Reg4", configMINIMAL_STACK_SIZE, configREG_TEST_TASK_4_PARAMETER, tskIDLE_PRIORITY, NULL );
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492 /* Create and start the software timer. */
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493 xTimer = xTimerCreate( "Timer", /* Test name for the timer. */
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494 mainTIMER_PERIOD, /* Period of the timer. */
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495 pdTRUE, /* The timer will auto-reload itself. */
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496 ( void * ) 0, /* The timer's ID is used to count the number of times it expires - initialise this to 0. */
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497 prvTimerCallback ); /* The function called when the timer expires. */
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498 configASSERT( xTimer );
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499 xTimerStart( xTimer, mainDONT_BLOCK );
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501 /* Start the scheduler. */
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502 vTaskStartScheduler();
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504 /* Will only get here if there was insufficient memory to create the idle
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508 /*-----------------------------------------------------------*/
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510 static void prvCheckTask( void *pvParameters )
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512 /* This task is created in privileged mode so can access the file scope
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513 queue variable. Take a stack copy of this before the task is set into user
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514 mode. Once that task is in user mode the file scope queue variable will no
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515 longer be accessible but the stack copy will. */
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516 QueueHandle_t xQueue = xGlobalScopeCheckQueue;
\r
518 uint32_t ulStillAliveCounts[ 3 ] = { 0 };
\r
519 const char *pcStatusMessage = "PASS\r\n";
\r
520 uint32_t ulLastRegTest3CountValue = 0, ulLastRegTest4Value = 0;
\r
522 /* The register test tasks that also test the floating point registers increment
\r
523 a counter on each iteration of their loop. The counters are inside the array
\r
524 that this task has access to. */
\r
525 volatile uint32_t *pulOverlaidCounter3 = ( uint32_t * ) &( cReadWriteArray[ 0 ] ), *pulOverlaidCounter4 = ( uint32_t * ) &( cReadWriteArray[ 4 ] );
\r
527 /* Just to remove compiler warning. */
\r
528 ( void ) pvParameters;
\r
530 /* Demonstrate how the various memory regions can and can't be accessed.
\r
531 The task privilege level is set down to user mode within this function. */
\r
532 prvTestMemoryRegions();
\r
534 /* Clear overlaid reg test counters before entering the loop below. */
\r
535 *pulOverlaidCounter3 = 0UL;
\r
536 *pulOverlaidCounter4 = 0UL;
\r
538 /* This loop performs the main function of the task, which is blocking
\r
539 on a message queue then processing each message as it arrives. */
\r
542 /* Wait for the next message to arrive. */
\r
543 xQueueReceive( xQueue, &lMessage, portMAX_DELAY );
\r
547 case configREG_TEST_1_STILL_EXECUTING :
\r
548 case configREG_TEST_2_STILL_EXECUTING :
\r
549 case configTIMER_STILL_EXECUTING :
\r
550 /* Message from the first or second register check task, or
\r
551 the timer callback function. Increment the count of the
\r
552 number of times the message source has sent the message as
\r
553 the message source must still be executed. */
\r
554 ( ulStillAliveCounts[ lMessage ] )++;
\r
557 case configPRINT_SYSTEM_STATUS :
\r
558 /* Message from tick hook, time to print out the system
\r
559 status. If messages have stopped arriving from either of
\r
560 the first two reg test task or the timer callback then the
\r
561 status must be set to fail. */
\r
562 if( ( ulStillAliveCounts[ 0 ] == 0 ) || ( ulStillAliveCounts[ 1 ] == 0 ) || ( ulStillAliveCounts[ 2 ] == 0 ) )
\r
564 /* One or both of the test tasks are no longer sending
\r
565 'still alive' messages. */
\r
566 pcStatusMessage = "FAIL\r\n";
\r
570 /* Reset the count of 'still alive' messages. */
\r
571 memset( ( void * ) ulStillAliveCounts, 0x00, sizeof( ulStillAliveCounts ) );
\r
574 /* Check that the register test 3 task is still incrementing
\r
575 its counter, and therefore still running. */
\r
576 if( ulLastRegTest3CountValue == *pulOverlaidCounter3 )
\r
578 pcStatusMessage = "FAIL\r\n";
\r
580 ulLastRegTest3CountValue = *pulOverlaidCounter3;
\r
582 /* Check that the register test 4 task is still incrementing
\r
583 its counter, and therefore still running. */
\r
584 if( ulLastRegTest4Value == *pulOverlaidCounter4 )
\r
586 pcStatusMessage = "FAIL\r\n";
\r
588 ulLastRegTest4Value = *pulOverlaidCounter4;
\r
590 /**** print pcStatusMessage here. ****/
\r
591 prvITMPrintString( pcStatusMessage );
\r
595 /* Something unexpected happened. Delete this task so the
\r
596 error is apparent (no output will be displayed). */
\r
602 /*-----------------------------------------------------------*/
\r
604 static void prvTestMemoryRegions( void )
\r
609 /* The check task (from which this function is called) is created in the
\r
610 Privileged mode. The privileged array can be both read from and written
\r
611 to while this task is privileged. */
\r
612 cPrivilegedOnlyAccessArray[ 0 ] = 'a';
\r
613 if( cPrivilegedOnlyAccessArray[ 0 ] != 'a' )
\r
615 /* Something unexpected happened. Delete this task so the error is
\r
616 apparent (no output will be displayed). */
\r
620 /* Writing off the end of the RAM allocated to this task will *NOT* cause a
\r
621 protection fault because the task is still executing in a privileged mode.
\r
622 Uncomment the following to test. */
\r
623 /*cPrivilegedOnlyAccessArray[ mainPRIVILEGED_ONLY_ACCESS_ALIGN_SIZE ] = 'a';*/
\r
625 /* Now set the task into user mode. */
\r
626 portSWITCH_TO_USER_MODE();
\r
628 /* Accessing the privileged only array will now cause a fault. Uncomment
\r
629 the following line to test. */
\r
630 /*cPrivilegedOnlyAccessArray[ 0 ] = 'a';*/
\r
632 /* The read/write array can still be successfully read and written. */
\r
633 for( x = 0; x < mainREAD_WRITE_ALIGN_SIZE; x++ )
\r
635 cReadWriteArray[ x ] = 'a';
\r
636 if( cReadWriteArray[ x ] != 'a' )
\r
638 /* Something unexpected happened. Delete this task so the error is
\r
639 apparent (no output will be displayed). */
\r
644 /* But attempting to read or write off the end of the RAM allocated to this
\r
645 task will cause a fault. Uncomment either of the following two lines to
\r
647 /* cReadWriteArray[ 0 ] = cReadWriteArray[ -1 ]; */
\r
648 /* cReadWriteArray[ mainREAD_WRITE_ALIGN_SIZE ] = 0x00; */
\r
650 /* The read only array can be successfully read... */
\r
651 for( x = 0; x < mainREAD_ONLY_ALIGN_SIZE; x++ )
\r
653 cTemp = cReadOnlyArray[ x ];
\r
656 /* ...but cannot be written. Uncomment the following line to test. */
\r
657 /* cReadOnlyArray[ 0 ] = 'a'; */
\r
659 /* Writing to the first and last locations in the stack array should not
\r
660 cause a protection fault. Note that doing this will cause the kernel to
\r
661 detect a stack overflow if configCHECK_FOR_STACK_OVERFLOW is greater than
\r
662 1, hence the test is commented out by default. */
\r
663 /* xCheckTaskStack[ 0 ] = 0;
\r
664 xCheckTaskStack[ mainCHECK_TASK_STACK_SIZE_WORDS - 1 ] = 0; */
\r
666 /* Writing off either end of the stack array should cause a protection
\r
667 fault, uncomment either of the following two lines to test. */
\r
668 /* xCheckTaskStack[ -1 ] = 0; */
\r
669 /* xCheckTaskStack[ mainCHECK_TASK_STACK_SIZE_WORDS ] = 0; */
\r
673 /*-----------------------------------------------------------*/
\r
675 static void prvExerciseEventGroupAPI( void )
\r
677 EventGroupHandle_t xEventGroup;
\r
679 const EventBits_t xBitsToWaitFor = ( EventBits_t ) 0xff, xBitToClear = ( EventBits_t ) 0x01;
\r
681 /* Exercise some event group functions. */
\r
682 xEventGroup = xEventGroupCreate();
\r
683 configASSERT( xEventGroup );
\r
685 /* No bits should be set. */
\r
686 xBits = xEventGroupWaitBits( xEventGroup, xBitsToWaitFor, pdTRUE, pdFALSE, mainDONT_BLOCK );
\r
687 configASSERT( xBits == ( EventBits_t ) 0 );
\r
689 /* Set bits and read back to ensure the bits were set. */
\r
690 xEventGroupSetBits( xEventGroup, xBitsToWaitFor );
\r
691 xBits = xEventGroupGetBits( xEventGroup );
\r
692 configASSERT( xBits == xBitsToWaitFor );
\r
694 /* Clear a bit and read back again using a different API function. */
\r
695 xEventGroupClearBits( xEventGroup, xBitToClear );
\r
696 xBits = xEventGroupSync( xEventGroup, 0x00, xBitsToWaitFor, mainDONT_BLOCK );
\r
697 configASSERT( xBits == ( xBitsToWaitFor & ~xBitToClear ) );
\r
699 /* Finished with the event group. */
\r
700 vEventGroupDelete( xEventGroup );
\r
702 /*-----------------------------------------------------------*/
\r
704 static void prvExerciseSemaphoreAPI( void )
\r
706 SemaphoreHandle_t xSemaphore;
\r
707 const UBaseType_t uxMaxCount = 5, uxInitialCount = 0;
\r
709 /* Most of the semaphore API is common to the queue API and is already being
\r
710 used. This function uses a few semaphore functions that are unique to the
\r
711 RTOS objects, rather than generic and used by queues also.
\r
713 First create and use a counting semaphore. */
\r
714 xSemaphore = xSemaphoreCreateCounting( uxMaxCount, uxInitialCount );
\r
715 configASSERT( xSemaphore );
\r
717 /* Give the semaphore a couple of times and ensure the count is returned
\r
719 xSemaphoreGive( xSemaphore );
\r
720 xSemaphoreGive( xSemaphore );
\r
721 configASSERT( uxSemaphoreGetCount( xSemaphore ) == 2 );
\r
722 vSemaphoreDelete( xSemaphore );
\r
724 /* Create a recursive mutex, and ensure the mutex holder and count are
\r
725 returned returned correctly. */
\r
726 xSemaphore = xSemaphoreCreateRecursiveMutex();
\r
727 configASSERT( uxSemaphoreGetCount( xSemaphore ) == 1 );
\r
728 configASSERT( xSemaphore );
\r
729 xSemaphoreTakeRecursive( xSemaphore, mainDONT_BLOCK );
\r
730 xSemaphoreTakeRecursive( xSemaphore, mainDONT_BLOCK );
\r
731 configASSERT( xSemaphoreGetMutexHolder( xSemaphore ) == xTaskGetCurrentTaskHandle() );
\r
732 configASSERT( xSemaphoreGetMutexHolder( xSemaphore ) == xTaskGetHandle( mainTASK_TO_DELETE_NAME ) );
\r
733 xSemaphoreGiveRecursive( xSemaphore );
\r
734 configASSERT( uxSemaphoreGetCount( xSemaphore ) == 0 );
\r
735 xSemaphoreGiveRecursive( xSemaphore );
\r
736 configASSERT( uxSemaphoreGetCount( xSemaphore ) == 1 );
\r
737 configASSERT( xSemaphoreGetMutexHolder( xSemaphore ) == NULL );
\r
738 vSemaphoreDelete( xSemaphore );
\r
740 /* Create a normal mutex, and sure the mutex holder and count are returned
\r
741 returned correctly. */
\r
742 xSemaphore = xSemaphoreCreateMutex();
\r
743 configASSERT( xSemaphore );
\r
744 xSemaphoreTake( xSemaphore, mainDONT_BLOCK );
\r
745 xSemaphoreTake( xSemaphore, mainDONT_BLOCK );
\r
746 configASSERT( uxSemaphoreGetCount( xSemaphore ) == 0 ); /* Not recursive so can only be 1. */
\r
747 configASSERT( xSemaphoreGetMutexHolder( xSemaphore ) == xTaskGetCurrentTaskHandle() );
\r
748 xSemaphoreGive( xSemaphore );
\r
749 configASSERT( uxSemaphoreGetCount( xSemaphore ) == 1 );
\r
750 configASSERT( xSemaphoreGetMutexHolder( xSemaphore ) == NULL );
\r
751 vSemaphoreDelete( xSemaphore );
\r
753 /*-----------------------------------------------------------*/
\r
755 static void prvExerciseTaskNotificationAPI( void )
\r
757 uint32_t ulNotificationValue;
\r
758 BaseType_t xReturned;
\r
760 /* The task should not yet have a notification pending. */
\r
761 xReturned = xTaskNotifyWait( 0, 0, &ulNotificationValue, mainDONT_BLOCK );
\r
762 configASSERT( xReturned == pdFAIL );
\r
763 configASSERT( ulNotificationValue == 0UL );
\r
765 /* Exercise the 'give' and 'take' versions of the notification API. */
\r
766 xTaskNotifyGive( xTaskGetCurrentTaskHandle() );
\r
767 xTaskNotifyGive( xTaskGetCurrentTaskHandle() );
\r
768 ulNotificationValue = ulTaskNotifyTake( pdTRUE, mainDONT_BLOCK );
\r
769 configASSERT( ulNotificationValue == 2 );
\r
771 /* Exercise the 'notify' and 'clear' API. */
\r
772 ulNotificationValue = 20;
\r
773 xTaskNotify( xTaskGetCurrentTaskHandle(), ulNotificationValue, eSetValueWithOverwrite );
\r
774 ulNotificationValue = 0;
\r
775 xReturned = xTaskNotifyWait( 0, 0, &ulNotificationValue, mainDONT_BLOCK );
\r
776 configASSERT( xReturned == pdPASS );
\r
777 configASSERT( ulNotificationValue == 20 );
\r
778 xTaskNotify( xTaskGetCurrentTaskHandle(), ulNotificationValue, eSetValueWithOverwrite );
\r
779 xReturned = xTaskNotifyStateClear( NULL );
\r
780 configASSERT( xReturned == pdTRUE ); /* First time a notification was pending. */
\r
781 xReturned = xTaskNotifyStateClear( NULL );
\r
782 configASSERT( xReturned == pdFALSE ); /* Second time the notification was already clear. */
\r
784 /*-----------------------------------------------------------*/
\r
786 static void prvTaskToDelete( void *pvParameters )
\r
788 /* Remove compiler warnings about unused parameters. */
\r
789 ( void ) pvParameters;
\r
791 /* Check the enter and exit critical macros are working correctly. If the
\r
792 SVC priority is below configMAX_SYSCALL_INTERRUPT_PRIORITY then this will
\r
794 taskENTER_CRITICAL();
\r
795 taskEXIT_CRITICAL();
\r
797 /* Exercise the API of various RTOS objects. */
\r
798 prvExerciseEventGroupAPI();
\r
799 prvExerciseSemaphoreAPI();
\r
800 prvExerciseTaskNotificationAPI();
\r
802 /* For code coverage test purposes it is deleted by the Idle task. */
\r
803 configASSERT( uxTaskGetStackHighWaterMark( NULL ) > 0 );
\r
804 vTaskSuspend( NULL );
\r
806 /*-----------------------------------------------------------*/
\r
808 void vApplicationIdleHook( void )
\r
810 volatile const uint32_t *pul;
\r
811 volatile uint32_t ulReadData;
\r
813 /* The idle task, and therefore this function, run in Supervisor mode and
\r
814 can therefore access all memory. Try reading from corners of flash and
\r
815 RAM to ensure a memory fault does not occur.
\r
817 Start with the edges of the privileged data area. */
\r
818 pul = __privileged_data_start__;
\r
820 pul = __privileged_data_end__ - 1;
\r
823 /* Next the standard SRAM area. */
\r
824 pul = __SRAM_segment_end__ - 1;
\r
827 /* And the standard Flash area - the start of which is marked for
\r
828 privileged access only. */
\r
829 pul = __FLASH_segment_start__;
\r
831 pul = __FLASH_segment_end__ - 1;
\r
834 /* Reading off the end of Flash or SRAM space should cause a fault.
\r
835 Uncomment one of the following two pairs of lines to test. */
\r
837 /* pul = __FLASH_segment_end__ + 4;
\r
838 ulReadData = *pul; */
\r
840 /* pul = __SRAM_segment_end__ + 1;
\r
841 ulReadData = *pul; */
\r
843 /* One task is created purely so it can be deleted - done for code coverage
\r
845 if( xTaskToDelete != NULL )
\r
847 vTaskDelete( xTaskToDelete );
\r
848 xTaskToDelete = NULL;
\r
851 ( void ) ulReadData;
\r
853 /*-----------------------------------------------------------*/
\r
855 static void prvOldStyleUserModeTask( void *pvParameters )
\r
857 const volatile uint32_t *pulStandardPeripheralRegister = ( volatile uint32_t * ) 0x40000000;
\r
858 volatile const uint32_t *pul;
\r
859 volatile uint32_t ulReadData;
\r
861 /* The following lines are commented out to prevent the unused variable
\r
862 compiler warnings when the tests that use the variable are also commented out. */
\r
863 /* extern uint32_t __privileged_functions_start__[]; */
\r
864 /* const volatile uint32_t *pulSystemPeripheralRegister = ( volatile uint32_t * ) 0xe000e014; */
\r
866 ( void ) pvParameters;
\r
868 /* This task is created in User mode using the original xTaskCreate() API
\r
869 function. It should have access to all Flash and RAM except that marked
\r
870 as Privileged access only. Reading from the start and end of the non-
\r
871 privileged RAM should not cause a problem (the privileged RAM is the first
\r
872 block at the bottom of the RAM memory). */
\r
873 pul = __privileged_data_end__ + 1;
\r
875 pul = __SRAM_segment_end__ - 1;
\r
878 /* Likewise reading from the start and end of the non-privileged Flash
\r
879 should not be a problem (the privileged Flash is the first block at the
\r
880 bottom of the Flash memory). */
\r
881 pul = __privileged_functions_end__ + 1;
\r
883 pul = __FLASH_segment_end__ - 1;
\r
886 /* Standard peripherals are accessible. */
\r
887 ulReadData = *pulStandardPeripheralRegister;
\r
889 /* System peripherals are not accessible. Uncomment the following line
\r
890 to test. Also uncomment the declaration of pulSystemPeripheralRegister
\r
891 at the top of this function.
\r
892 ulReadData = *pulSystemPeripheralRegister; */
\r
894 /* Reading from anywhere inside the privileged Flash or RAM should cause a
\r
895 fault. This can be tested by uncommenting any of the following pairs of
\r
896 lines. Also uncomment the declaration of __privileged_functions_start__
\r
897 at the top of this function. */
\r
899 /* pul = __privileged_functions_start__;
\r
900 ulReadData = *pul; */
\r
902 /*pul = __privileged_functions_end__ - 1;
\r
903 ulReadData = *pul;*/
\r
905 /*pul = __privileged_data_start__;
\r
906 ulReadData = *pul;*/
\r
908 /*pul = __privileged_data_end__ - 1;
\r
909 ulReadData = *pul;*/
\r
911 /* Must not just run off the end of a task function, so delete this task.
\r
912 Note that because this task was created using xTaskCreate() the stack was
\r
913 allocated dynamically and I have not included any code to free it again. */
\r
914 vTaskDelete( NULL );
\r
916 ( void ) ulReadData;
\r
918 /*-----------------------------------------------------------*/
\r
920 static void prvOldStylePrivilegedModeTask( void *pvParameters )
\r
922 volatile const uint32_t *pul;
\r
923 volatile uint32_t ulReadData;
\r
924 const volatile uint32_t *pulSystemPeripheralRegister = ( volatile uint32_t * ) 0xe000e014; /* Systick */
\r
925 /*const volatile uint32_t *pulStandardPeripheralRegister = ( volatile uint32_t * ) 0x40000000;*/
\r
927 ( void ) pvParameters;
\r
929 /* This task is created in Privileged mode using the original xTaskCreate()
\r
930 API function. It should have access to all Flash and RAM including that
\r
931 marked as Privileged access only. So reading from the start and end of the
\r
932 non-privileged RAM should not cause a problem (the privileged RAM is the
\r
933 first block at the bottom of the RAM memory). */
\r
934 pul = __privileged_data_end__ + 1;
\r
936 pul = __SRAM_segment_end__ - 1;
\r
939 /* Likewise reading from the start and end of the non-privileged Flash
\r
940 should not be a problem (the privileged Flash is the first block at the
\r
941 bottom of the Flash memory). */
\r
942 pul = __privileged_functions_end__ + 1;
\r
944 pul = __FLASH_segment_end__ - 1;
\r
947 /* Reading from anywhere inside the privileged Flash or RAM should also
\r
948 not be a problem. */
\r
949 pul = __privileged_functions_start__;
\r
951 pul = __privileged_functions_end__ - 1;
\r
953 pul = __privileged_data_start__;
\r
955 pul = __privileged_data_end__ - 1;
\r
958 /* Finally, accessing both System and normal peripherals should both be
\r
960 ulReadData = *pulSystemPeripheralRegister;
\r
961 /*ulReadData = *pulStandardPeripheralRegister;*/
\r
963 /* Must not just run off the end of a task function, so delete this task.
\r
964 Note that because this task was created using xTaskCreate() the stack was
\r
965 allocated dynamically and I have not included any code to free it again. */
\r
966 vTaskDelete( NULL );
\r
968 ( void ) ulReadData;
\r
970 /*-----------------------------------------------------------*/
\r
972 void vMainDeleteMe( void )
\r
974 vTaskDelete( NULL );
\r
976 /*-----------------------------------------------------------*/
\r
978 void vMainSendImAlive( QueueHandle_t xHandle, uint32_t ulTaskNumber )
\r
980 if( xHandle != NULL )
\r
982 xQueueSend( xHandle, &ulTaskNumber, mainDONT_BLOCK );
\r
985 /*-----------------------------------------------------------*/
\r
987 static void prvSetupHardware( void )
\r
989 extern void SystemInit( void );
\r
990 extern uint32_t __Vectors[];
\r
992 /* Assuming downloading code via the debugger - so ensure the hardware
\r
993 is using the vector table downloaded with the application. */
\r
994 mainVTOR = ( uint32_t ) __Vectors;
\r
996 #if ( ( configASSERT_DEFINED == 1 ) && ( defined ( __GNUC__ ) ) )
\r
998 /* Sanity check linker configuration sizes sections adequately. */
\r
999 const uint32_t ulPrivilegedFunctionsActualEnd = ( uint32_t ) __privileged_functions_actual_end__;
\r
1000 const uint32_t ulPrivilegedDataActualEnd = ( uint32_t ) __privileged_data_actual_end__;
\r
1001 const uint32_t ulPrivilegedFunctionsEnd = ( uint32_t ) __privileged_functions_end__;
\r
1002 const uint32_t ulPrivilegedDataEnd = ( uint32_t ) __privileged_data_end__;
\r
1004 configASSERT( ulPrivilegedFunctionsActualEnd < ulPrivilegedFunctionsEnd );
\r
1005 configASSERT( ulPrivilegedDataActualEnd < ulPrivilegedDataEnd );
\r
1007 /* Clear the privileged data to 0 as the C start up code is only set to
\r
1008 clear the non-privileged bss. */
\r
1009 memset( ( void * ) __privileged_data_start__, 0x00, ( size_t ) __privileged_data_actual_end__ - ( size_t ) __privileged_data_start__ );
\r
1014 SystemCoreClockUpdate();
\r
1016 /*-----------------------------------------------------------*/
\r
1018 void vApplicationTickHook( void )
\r
1020 static uint32_t ulCallCount = 0;
\r
1021 const uint32_t ulCallsBetweenSends = pdMS_TO_TICKS( 5000 );
\r
1022 const uint32_t ulMessage = configPRINT_SYSTEM_STATUS;
\r
1023 portBASE_TYPE xDummy;
\r
1025 /* If configUSE_TICK_HOOK is set to 1 then this function will get called
\r
1026 from each RTOS tick. It is called from the tick interrupt and therefore
\r
1027 will be executing in the privileged state. */
\r
1031 /* Is it time to print out the pass/fail message again? */
\r
1032 if( ulCallCount >= ulCallsBetweenSends )
\r
1036 /* Send a message to the check task to command it to check that all
\r
1037 the tasks are still running then print out the status.
\r
1039 This is running in an ISR so has to use the "FromISR" version of
\r
1040 xQueueSend(). Because it is in an ISR it is running with privileges
\r
1041 so can access xGlobalScopeCheckQueue directly. */
\r
1042 xQueueSendFromISR( xGlobalScopeCheckQueue, &ulMessage, &xDummy );
\r
1045 /*-----------------------------------------------------------*/
\r
1047 void vApplicationStackOverflowHook( TaskHandle_t pxTask, char *pcTaskName )
\r
1049 /* If configCHECK_FOR_STACK_OVERFLOW is set to either 1 or 2 then this
\r
1050 function will automatically get called if a task overflows its stack. */
\r
1052 ( void ) pcTaskName;
\r
1055 /*-----------------------------------------------------------*/
\r
1057 void vApplicationMallocFailedHook( void )
\r
1059 /* If configUSE_MALLOC_FAILED_HOOK is set to 1 then this function will
\r
1060 be called automatically if a call to pvPortMalloc() fails. pvPortMalloc()
\r
1061 is called automatically when a task, queue or semaphore is created. */
\r
1064 /*-----------------------------------------------------------*/
\r
1066 static void prvTimerCallback( TaskHandle_t xExpiredTimer )
\r
1070 /* The count of the number of times this timer has expired is saved in the
\r
1071 timer's ID. Obtain the current count. */
\r
1072 ulCount = ( uint32_t ) pvTimerGetTimerID( xTimer );
\r
1074 /* Increment the count, and save it back into the timer's ID. */
\r
1076 vTimerSetTimerID( xTimer, ( void * ) ulCount );
\r
1078 /* Let the check task know the timer is still running. */
\r
1079 vMainSendImAlive( xGlobalScopeCheckQueue, configTIMER_STILL_EXECUTING );
\r
1081 /*-----------------------------------------------------------*/
\r
1083 /* configUSE_STATIC_ALLOCATION is set to 1, so the application must provide an
\r
1084 implementation of vApplicationGetIdleTaskMemory() to provide the memory that is
\r
1085 used by the Idle task. */
\r
1086 void vApplicationGetIdleTaskMemory( StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize )
\r
1088 /* If the buffers to be provided to the Idle task are declared inside this
\r
1089 function then they must be declared static - otherwise they will be allocated on
\r
1090 the stack and so not exists after this function exits. */
\r
1091 static StaticTask_t xIdleTaskTCB;
\r
1092 static StackType_t uxIdleTaskStack[ configMINIMAL_STACK_SIZE ];
\r
1094 /* Pass out a pointer to the StaticTask_t structure in which the Idle task's
\r
1095 state will be stored. */
\r
1096 *ppxIdleTaskTCBBuffer = &xIdleTaskTCB;
\r
1098 /* Pass out the array that will be used as the Idle task's stack. */
\r
1099 *ppxIdleTaskStackBuffer = uxIdleTaskStack;
\r
1101 /* Pass out the size of the array pointed to by *ppxIdleTaskStackBuffer.
\r
1102 Note that, as the array is necessarily of type StackType_t,
\r
1103 configMINIMAL_STACK_SIZE is specified in words, not bytes. */
\r
1104 *pulIdleTaskStackSize = configMINIMAL_STACK_SIZE;
\r
1106 /*-----------------------------------------------------------*/
\r
1108 /* configUSE_STATIC_ALLOCATION and configUSE_TIMERS are both set to 1, so the
\r
1109 application must provide an implementation of vApplicationGetTimerTaskMemory()
\r
1110 to provide the memory that is used by the Timer service task. */
\r
1111 void vApplicationGetTimerTaskMemory( StaticTask_t **ppxTimerTaskTCBBuffer, StackType_t **ppxTimerTaskStackBuffer, uint32_t *pulTimerTaskStackSize )
\r
1113 /* If the buffers to be provided to the Timer task are declared inside this
\r
1114 function then they must be declared static - otherwise they will be allocated on
\r
1115 the stack and so not exists after this function exits. */
\r
1116 static StaticTask_t xTimerTaskTCB;
\r
1117 static StackType_t uxTimerTaskStack[ configTIMER_TASK_STACK_DEPTH ];
\r
1119 /* Pass out a pointer to the StaticTask_t structure in which the Timer
\r
1120 task's state will be stored. */
\r
1121 *ppxTimerTaskTCBBuffer = &xTimerTaskTCB;
\r
1123 /* Pass out the array that will be used as the Timer task's stack. */
\r
1124 *ppxTimerTaskStackBuffer = uxTimerTaskStack;
\r
1126 /* Pass out the size of the array pointed to by *ppxTimerTaskStackBuffer.
\r
1127 Note that, as the array is necessarily of type StackType_t,
\r
1128 configMINIMAL_STACK_SIZE is specified in words, not bytes. */
\r
1129 *pulTimerTaskStackSize = configTIMER_TASK_STACK_DEPTH;
\r
1131 /*-----------------------------------------------------------*/
\r
1133 static void prvITMPrintString( const char *pcString )
\r
1135 while( *pcString != 0x00 )
\r
1137 ITM_SendChar( *pcString );
\r
1141 /*-----------------------------------------------------------*/
\r
1143 static void prvRegTest3Task( void *pvParameters )
\r
1145 /* Although the regtest task is written in assembler, its entry point is
\r
1146 written in C for convenience of checking the task parameter is being passed
\r
1148 if( pvParameters == configREG_TEST_TASK_3_PARAMETER )
\r
1150 /* Start the part of the test that is written in assembler. */
\r
1151 vRegTest3Implementation();
\r
1154 /* The following line will only execute if the task parameter is found to
\r
1155 be incorrect. The check task will detect that the regtest loop counter is
\r
1156 not being incremented and flag an error. */
\r
1157 vTaskDelete( NULL );
\r
1159 /*-----------------------------------------------------------*/
\r
1161 static void prvRegTest4Task( void *pvParameters )
\r
1163 /* Although the regtest task is written in assembler, its entry point is
\r
1164 written in C for convenience of checking the task parameter is being passed
\r
1166 if( pvParameters == configREG_TEST_TASK_4_PARAMETER )
\r
1168 /* Start the part of the test that is written in assembler. */
\r
1169 vRegTest4Implementation();
\r
1172 /* The following line will only execute if the task parameter is found to
\r
1173 be incorrect. The check task will detect that the regtest loop counter is
\r
1174 not being incremented and flag an error. */
\r
1175 vTaskDelete( NULL );
\r
1177 /*-----------------------------------------------------------*/
\r
projects / freertos / blob