2 FreeRTOS V7.5.2 - Copyright (C) 2013 Real Time Engineers Ltd.
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4 VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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6 ***************************************************************************
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8 * FreeRTOS provides completely free yet professionally developed, *
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9 * robust, strictly quality controlled, supported, and cross *
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10 * platform software that has become a de facto standard. *
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12 * Help yourself get started quickly and support the FreeRTOS *
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13 * project by purchasing a FreeRTOS tutorial book, reference *
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14 * manual, or both from: http://www.FreeRTOS.org/Documentation *
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18 ***************************************************************************
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20 This file is part of the FreeRTOS distribution.
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22 FreeRTOS is free software; you can redistribute it and/or modify it under
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23 the terms of the GNU General Public License (version 2) as published by the
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24 Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
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26 >>! NOTE: The modification to the GPL is included to allow you to distribute
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27 >>! a combined work that includes FreeRTOS without being obliged to provide
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28 >>! the source code for proprietary components outside of the FreeRTOS
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31 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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32 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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33 FOR A PARTICULAR PURPOSE. Full license text is available from the following
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34 link: http://www.freertos.org/a00114.html
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38 ***************************************************************************
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40 * Having a problem? Start by reading the FAQ "My application does *
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41 * not run, what could be wrong?" *
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43 * http://www.FreeRTOS.org/FAQHelp.html *
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45 ***************************************************************************
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47 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
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48 license and Real Time Engineers Ltd. contact details.
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50 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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51 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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52 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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54 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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55 Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS
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56 licenses offer ticketed support, indemnification and middleware.
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58 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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59 engineered and independently SIL3 certified version for use in safety and
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60 mission critical applications that require provable dependability.
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67 * This file demonstrates the use of FreeRTOS-MPU. It creates tasks in both
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68 * User mode and Privileged mode, and using both the original xTaskCreate() and
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69 * the new xTaskCreateRestricted() API functions. The purpose of each created
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70 * task is documented in the comments above the task function prototype (in
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71 * this file), with the task behaviour demonstrated and documented within the
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72 * task function itself. In addition a queue is used to demonstrate passing
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73 * data between protected/restricted tasks as well as passing data between an
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74 * interrupt and a protected/restricted task.
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79 /* Standard includes. */
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81 #include <__cross_studio_io.h>
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83 /* Scheduler includes. */
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84 #include "FreeRTOS.h"
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89 /* Hardware library includes. */
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90 #include "hw_types.h"
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91 #include "hw_sysctl.h"
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94 /*-----------------------------------------------------------*/
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96 /* Misc constants. */
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97 #define mainDONT_BLOCK ( 0 )
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99 /* Definitions for the messages that can be sent to the check task. */
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100 #define mainREG_TEST_1_STILL_EXECUTING ( 0 )
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101 #define mainREG_TEST_2_STILL_EXECUTING ( 1 )
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102 #define mainPRINT_SYSTEM_STATUS ( 2 )
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104 /* GCC specifics. */
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105 #define mainALIGN_TO( x ) __attribute__((aligned(x)))
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108 /*-----------------------------------------------------------*/
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109 /* Prototypes for functions that implement tasks. -----------*/
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110 /*-----------------------------------------------------------*/
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113 * Prototype for the reg test tasks. Amongst other things, these fill the CPU
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114 * registers with known values before checking that the registers still contain
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115 * the expected values. Each of the two tasks use different values so an error
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116 * in the context switch mechanism can be caught. Both reg test tasks execute
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117 * at the idle priority so will get preempted regularly. Each task repeatedly
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118 * sends a message on a queue so long as it remains functioning correctly. If
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119 * an error is detected within the task the task is simply deleted.
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121 static void prvRegTest1Task( void *pvParameters );
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122 static void prvRegTest2Task( void *pvParameters );
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125 * Prototype for the check task. The check task demonstrates various features
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126 * of the MPU before entering a loop where it waits for messages to arrive on a
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129 * Two types of messages can be processes:
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131 * 1) "I'm Alive" messages sent from the reg test tasks, indicating that the
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132 * task is still operational.
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134 * 2) "Print Status commands" sent periodically by the tick hook function (and
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135 * therefore from within an interrupt) which command the check task to write
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136 * either pass or fail to the terminal, depending on the status of the reg
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139 static void prvCheckTask( void *pvParameters );
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142 * Prototype for a task created in User mode using the original vTaskCreate()
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143 * API function. The task demonstrates the characteristics of such a task,
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144 * before simply deleting itself.
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146 static void prvOldStyleUserModeTask( void *pvParameters );
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149 * Prototype for a task created in Privileged mode using the original
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150 * vTaskCreate() API function. The task demonstrates the characteristics of
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151 * such a task, before simply deleting itself.
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153 static void prvOldStylePrivilegedModeTask( void *pvParameters );
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156 /*-----------------------------------------------------------*/
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157 /* Prototypes for other misc functions. --------------------*/
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158 /*-----------------------------------------------------------*/
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161 * Just configures any clocks and IO necessary.
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163 static void prvSetupHardware( void );
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166 * Simply deletes the calling task. The function is provided only because it
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167 * is simpler to call from asm code than the normal vTaskDelete() API function.
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168 * It has the noinline attribute because it is called from asm code.
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170 static void prvDeleteMe( void ) __attribute__((noinline));
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173 * Used by both reg test tasks to send messages to the check task. The message
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174 * just lets the check task know that the task is still functioning correctly.
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175 * If a reg test task detects an error it will delete itself, and in so doing
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176 * prevent itself from sending any more 'I'm Alive' messages to the check task.
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178 static void prvSendImAlive( xQueueHandle xHandle, unsigned long ulTaskNumber );
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181 * The check task is created with access to three memory regions (plus its
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182 * stack). Each memory region is configured with different parameters and
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183 * prvTestMemoryRegions() demonstrates what can and cannot be accessed for each
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184 * region. prvTestMemoryRegions() also demonstrates a task that was created
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185 * as a privileged task settings its own privilege level down to that of a user
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188 static void prvTestMemoryRegions( void );
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190 /*-----------------------------------------------------------*/
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192 /* The handle of the queue used to communicate between tasks and between tasks
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193 and interrupts. Note that this is a file scope variable that falls outside of
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194 any MPU region. As such other techniques have to be used to allow the tasks
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195 to gain access to the queue. See the comments in the tasks themselves for
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196 further information. */
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197 static xQueueHandle xFileScopeCheckQueue = NULL;
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200 /*-----------------------------------------------------------*/
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201 /* Data used by the 'check' task. ---------------------------*/
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202 /*-----------------------------------------------------------*/
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204 /* Define the constants used to allocate the check task stack. Note that the
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205 stack size is defined in words, not bytes. */
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206 #define mainCHECK_TASK_STACK_SIZE_WORDS 128
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207 #define mainCHECK_TASK_STACK_ALIGNMENT ( mainCHECK_TASK_STACK_SIZE_WORDS * sizeof( portSTACK_TYPE ) )
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209 /* Declare the stack that will be used by the check task. The kernel will
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210 automatically create an MPU region for the stack. The stack alignment must
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211 match its size, so if 128 words are reserved for the stack then it must be
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212 aligned to ( 128 * 4 ) bytes. */
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213 static portSTACK_TYPE xCheckTaskStack[ mainCHECK_TASK_STACK_SIZE_WORDS ] mainALIGN_TO( mainCHECK_TASK_STACK_ALIGNMENT );
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215 /* Declare three arrays - an MPU region will be created for each array
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216 using the xTaskParameters structure below. THIS IS JUST TO DEMONSTRATE THE
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217 MPU FUNCTIONALITY, the data is not used by the check tasks primary function
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218 of monitoring the reg test tasks and printing out status information.
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220 Note that the arrays allocate slightly more RAM than is actually assigned to
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221 the MPU region. This is to permit writes off the end of the array to be
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222 detected even when the arrays are placed in adjacent memory locations (with no
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223 gaps between them). The align size must be a power of two. */
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224 #define mainREAD_WRITE_ARRAY_SIZE 130
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225 #define mainREAD_WRITE_ALIGN_SIZE 128
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226 char cReadWriteArray[ mainREAD_WRITE_ARRAY_SIZE ] mainALIGN_TO( mainREAD_WRITE_ALIGN_SIZE );
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228 #define mainREAD_ONLY_ARRAY_SIZE 260
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229 #define mainREAD_ONLY_ALIGN_SIZE 256
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230 char cReadOnlyArray[ mainREAD_ONLY_ARRAY_SIZE ] mainALIGN_TO( mainREAD_ONLY_ALIGN_SIZE );
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232 #define mainPRIVILEGED_ONLY_ACCESS_ARRAY_SIZE 130
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233 #define mainPRIVILEGED_ONLY_ACCESS_ALIGN_SIZE 128
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234 char cPrivilegedOnlyAccessArray[ mainPRIVILEGED_ONLY_ACCESS_ALIGN_SIZE ] mainALIGN_TO( mainPRIVILEGED_ONLY_ACCESS_ALIGN_SIZE );
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236 /* Fill in a xTaskParameters structure to define the check task - this is the
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237 structure passed to the xTaskCreateRestricted() function. */
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238 static const xTaskParameters xCheckTaskParameters =
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240 prvCheckTask, /* pvTaskCode - the function that implements the task. */
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241 ( signed char * ) "Check", /* pcName */
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242 mainCHECK_TASK_STACK_SIZE_WORDS, /* usStackDepth - defined in words, not bytes. */
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243 ( void * ) 0x12121212, /* pvParameters - this value is just to test that the parameter is being passed into the task correctly. */
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244 ( 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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245 xCheckTaskStack, /* puxStackBuffer - the array to use as the task stack, as declared above. */
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247 /* xRegions - In this case the xRegions array is used to create MPU regions
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248 for all three of the arrays declared directly above. Each MPU region is
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249 created with different parameters. Again, THIS IS JUST TO DEMONSTRATE THE
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250 MPU FUNCTIONALITY, the data is not used by the check tasks primary function
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251 of monitoring the reg test tasks and printing out status information.*/
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253 /* Base address Length Parameters */
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254 { cReadWriteArray, mainREAD_WRITE_ALIGN_SIZE, portMPU_REGION_READ_WRITE },
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255 { cReadOnlyArray, mainREAD_ONLY_ALIGN_SIZE, portMPU_REGION_READ_ONLY },
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256 { cPrivilegedOnlyAccessArray, mainPRIVILEGED_ONLY_ACCESS_ALIGN_SIZE, portMPU_REGION_PRIVILEGED_READ_WRITE }
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262 /*-----------------------------------------------------------*/
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263 /* Data used by the 'reg test' tasks. -----------------------*/
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264 /*-----------------------------------------------------------*/
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266 /* Define the constants used to allocate the reg test task stacks. Note that
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267 that stack size is defined in words, not bytes. */
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268 #define mainREG_TEST_STACK_SIZE_WORDS 128
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269 #define mainREG_TEST_STACK_ALIGNMENT ( mainREG_TEST_STACK_SIZE_WORDS * sizeof( portSTACK_TYPE ) )
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271 /* Declare the stacks that will be used by the reg test tasks. The kernel will
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272 automatically create an MPU region for the stack. The stack alignment must
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273 match its size, so if 128 words are reserved for the stack then it must be
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274 aligned to ( 128 * 4 ) bytes. */
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275 static portSTACK_TYPE xRegTest1Stack[ mainREG_TEST_STACK_SIZE_WORDS ] mainALIGN_TO( mainREG_TEST_STACK_ALIGNMENT );
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276 static portSTACK_TYPE xRegTest2Stack[ mainREG_TEST_STACK_SIZE_WORDS ] mainALIGN_TO( mainREG_TEST_STACK_ALIGNMENT );
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278 /* Fill in a xTaskParameters structure per reg test task to define the tasks. */
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279 static const xTaskParameters xRegTest1Parameters =
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281 prvRegTest1Task, /* pvTaskCode - the function that implements the task. */
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282 ( signed char * ) "RegTest1", /* pcName */
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283 mainREG_TEST_STACK_SIZE_WORDS, /* usStackDepth */
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284 ( void * ) 0x12345678, /* pvParameters - this value is just to test that the parameter is being passed into the task correctly. */
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285 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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286 xRegTest1Stack, /* puxStackBuffer - the array to use as the task stack, as declared above. */
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287 { /* xRegions - this task does not use any non-stack data hence all members are zero. */
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288 /* Base address Length Parameters */
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289 { 0x00, 0x00, 0x00 },
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290 { 0x00, 0x00, 0x00 },
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291 { 0x00, 0x00, 0x00 }
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294 /*-----------------------------------------------------------*/
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296 static xTaskParameters xRegTest2Parameters =
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298 prvRegTest2Task, /* pvTaskCode - the function that implements the task. */
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299 ( signed char * ) "RegTest2", /* pcName */
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300 mainREG_TEST_STACK_SIZE_WORDS, /* usStackDepth */
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301 ( 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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302 tskIDLE_PRIORITY, /* uxPriority */
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303 xRegTest2Stack, /* puxStackBuffer - the array to use as the task stack, as declared above. */
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304 { /* xRegions - this task does not use any non-stack data hence all members are zero. */
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305 /* Base address Length Parameters */
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306 { 0x00, 0x00, 0x00 },
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307 { 0x00, 0x00, 0x00 },
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308 { 0x00, 0x00, 0x00 }
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312 /*-----------------------------------------------------------*/
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316 prvSetupHardware();
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318 /* Create the queue used to pass "I'm alive" messages to the check task. */
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319 xFileScopeCheckQueue = xQueueCreate( 1, sizeof( unsigned long ) );
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321 /* One check task uses the task parameter to receive the queue handle.
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322 This allows the file scope variable to be accessed from within the task.
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323 The pvParameters member of xRegTest2Parameters can only be set after the
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324 queue has been created so is set here. */
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325 xRegTest2Parameters.pvParameters = xFileScopeCheckQueue;
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327 /* Create the three test tasks. Handles to the created tasks are not
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328 required, hence the second parameter is NULL. */
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329 xTaskCreateRestricted( &xRegTest1Parameters, NULL );
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330 xTaskCreateRestricted( &xRegTest2Parameters, NULL );
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331 xTaskCreateRestricted( &xCheckTaskParameters, NULL );
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333 /* Create the tasks that are created using the original xTaskCreate() API
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335 xTaskCreate( prvOldStyleUserModeTask, /* The function that implements the task. */
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336 ( signed char * ) "Task1", /* Text name for the task. */
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337 100, /* Stack depth in words. */
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338 NULL, /* Task parameters. */
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339 3, /* Priority and mode (user in this case). */
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343 xTaskCreate( prvOldStylePrivilegedModeTask, /* The function that implements the task. */
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344 ( signed char * ) "Task2", /* Text name for the task. */
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345 100, /* Stack depth in words. */
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346 NULL, /* Task parameters. */
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347 ( 3 | portPRIVILEGE_BIT ), /* Priority and mode. */
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351 /* Start the scheduler. */
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352 vTaskStartScheduler();
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354 /* Will only get here if there was insufficient memory to create the idle
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359 /*-----------------------------------------------------------*/
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361 static void prvCheckTask( void *pvParameters )
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363 /* This task is created in privileged mode so can access the file scope
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364 queue variable. Take a stack copy of this before the task is set into user
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365 mode. Once that task is in user mode the file scope queue variable will no
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366 longer be accessible but the stack copy will. */
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367 xQueueHandle xQueue = xFileScopeCheckQueue;
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369 unsigned long ulStillAliveCounts[ 2 ] = { 0 };
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370 const char *pcStatusMessage = "PASS\r\n";
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372 /* The debug_printf() function uses RAM that is outside of the control of the
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373 application writer. Therefore the application_defined_privileged_functions.h
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374 header file is used to provide a version that executes with privileges. */
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375 extern int MPU_debug_printf( const char *pcMessage );
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377 /* Just to remove compiler warning. */
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378 ( void ) pvParameters;
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380 /* Demonstrate how the various memory regions can and can't be accessed.
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381 The task privilege level is set down to user mode within this function. */
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382 prvTestMemoryRegions();
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384 /* Tests are done so lower the privilege status. */
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385 portSWITCH_TO_USER_MODE();
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387 /* This loop performs the main function of the task, which is blocking
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388 on a message queue then processing each message as it arrives. */
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391 /* Wait for the next message to arrive. */
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392 xQueueReceive( xQueue, &lMessage, portMAX_DELAY );
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396 case mainREG_TEST_1_STILL_EXECUTING :
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397 /* Message from task 1, so task 1 must still be executing. */
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398 ( ulStillAliveCounts[ 0 ] )++;
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401 case mainREG_TEST_2_STILL_EXECUTING :
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402 /* Message from task 2, so task 2 must still be executing. */
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403 ( ulStillAliveCounts[ 1 ] )++;
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406 case mainPRINT_SYSTEM_STATUS :
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407 /* Message from tick hook, time to print out the system
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408 status. If messages has stopped arriving from either reg
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409 test task then the status must be set to fail. */
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410 if( ( ulStillAliveCounts[ 0 ] == 0 ) || ( ulStillAliveCounts[ 1 ] == 0 ) )
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412 /* One or both of the test tasks are no longer sending
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413 'still alive' messages. */
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414 pcStatusMessage = "FAIL\r\n";
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417 /* Print a pass/fail message to the terminal. This will be
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418 visible in the CrossWorks IDE. */
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419 MPU_debug_printf( pcStatusMessage );
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421 /* Reset the count of 'still alive' messages. */
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422 memset( ulStillAliveCounts, 0x00, sizeof( ulStillAliveCounts ) );
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426 /* Something unexpected happened. Delete this task so the
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427 error is apparent (no output will be displayed). */
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433 /*-----------------------------------------------------------*/
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435 static void prvTestMemoryRegions( void )
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440 /* The check task (from which this function is called) is created in the
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441 Privileged mode. The privileged array can be both read from and written
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442 to while this task is privileged. */
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443 cPrivilegedOnlyAccessArray[ 0 ] = 'a';
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444 if( cPrivilegedOnlyAccessArray[ 0 ] != 'a' )
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446 /* Something unexpected happened. Delete this task so the error is
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447 apparent (no output will be displayed). */
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451 /* Writing off the end of the RAM allocated to this task will *NOT* cause a
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452 protection fault because the task is still executing in a privileged mode.
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453 Uncomment the following to test. */
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454 /*cPrivilegedOnlyAccessArray[ mainPRIVILEGED_ONLY_ACCESS_ALIGN_SIZE ] = 'a';*/
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456 /* Now set the task into user mode. */
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457 portSWITCH_TO_USER_MODE();
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459 /* Accessing the privileged only array will now cause a fault. Uncomment
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460 the following line to test. */
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461 /*cPrivilegedOnlyAccessArray[ 0 ] = 'a';*/
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463 /* The read/write array can still be successfully read and written. */
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464 for( l = 0; l < mainREAD_WRITE_ALIGN_SIZE; l++ )
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466 cReadWriteArray[ l ] = 'a';
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467 if( cReadWriteArray[ l ] != 'a' )
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469 /* Something unexpected happened. Delete this task so the error is
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470 apparent (no output will be displayed). */
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475 /* But attempting to read or write off the end of the RAM allocated to this
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476 task will cause a fault. Uncomment either of the following two lines to
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478 /* cReadWriteArray[ 0 ] = cReadWriteArray[ -1 ]; */
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479 /* cReadWriteArray[ mainREAD_WRITE_ALIGN_SIZE ] = 0x00; */
\r
481 /* The read only array can be successfully read... */
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482 for( l = 0; l < mainREAD_ONLY_ALIGN_SIZE; l++ )
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484 cTemp = cReadOnlyArray[ l ];
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487 /* ...but cannot be written. Uncomment the following line to test. */
\r
488 /* cReadOnlyArray[ 0 ] = 'a'; */
\r
490 /* Writing to the first and last locations in the stack array should not
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491 cause a protection fault. Note that doing this will cause the kernel to
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492 detect a stack overflow if configCHECK_FOR_STACK_OVERFLOW is greater than
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494 xCheckTaskStack[ 0 ] = 0;
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495 xCheckTaskStack[ mainCHECK_TASK_STACK_SIZE_WORDS - 1 ] = 0;
\r
497 /* Writing off either end of the stack array should cause a protection
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498 fault, uncomment either of the following two lines to test. */
\r
499 /* xCheckTaskStack[ -1 ] = 0; */
\r
500 /* xCheckTaskStack[ mainCHECK_TASK_STACK_SIZE_WORDS ] = 0; */
\r
504 /*-----------------------------------------------------------*/
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506 static void prvRegTest1Task( void *pvParameters )
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508 /* This task is created in privileged mode so can access the file scope
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509 queue variable. Take a stack copy of this before the task is set into user
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510 mode. Once this task is in user mode the file scope queue variable will no
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511 longer be accessible but the stack copy will. */
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512 xQueueHandle xQueue = xFileScopeCheckQueue;
\r
514 /* Now the queue handle has been obtained the task can switch to user
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515 mode. This is just one method of passing a handle into a protected
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516 task, the other reg test task uses the task parameter instead. */
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517 portSWITCH_TO_USER_MODE();
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519 /* First check that the parameter value is as expected. */
\r
520 if( pvParameters != ( void * ) 0x12345678 )
\r
522 /* Error detected. Delete the task so it stops communicating with
\r
530 /* This task tests the kernel context switch mechanism by reading and
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531 writing directly to registers - which requires the test to be written
\r
532 in assembly code. */
\r
535 " MOV R4, #104 \n" /* Set registers to a known value. R0 to R1 are done in the loop below. */
\r
540 " MOV R10, #110 \n"
\r
541 " MOV R11, #111 \n"
\r
543 " MOV R0, #100 \n" /* Set the scratch registers to known values - done inside the loop as they get clobbered. */
\r
547 " MOV R12, #112 \n"
\r
548 " SVC #1 \n" /* Yield just to increase test coverage. */
\r
549 " CMP R0, #100 \n" /* Check all the registers still contain their expected values. */
\r
550 " BNE prvDeleteMe \n" /* Value was not as expected, delete the task so it stops communicating with the check task. */
\r
552 " BNE prvDeleteMe \n"
\r
554 " BNE prvDeleteMe \n"
\r
556 " BNE prvDeleteMe \n"
\r
558 " BNE prvDeleteMe \n"
\r
560 " BNE prvDeleteMe \n"
\r
562 " BNE prvDeleteMe \n"
\r
564 " BNE prvDeleteMe \n"
\r
566 " BNE prvDeleteMe \n"
\r
567 " CMP R10, #110 \n"
\r
568 " BNE prvDeleteMe \n"
\r
569 " CMP R11, #111 \n"
\r
570 " BNE prvDeleteMe \n"
\r
571 " CMP R12, #112 \n"
\r
572 " BNE prvDeleteMe \n"
\r
573 :::"r0", "r1", "r2", "r3", "r4", "r5", "r6", "r8", "r9", "r10", "r11", "r12"
\r
576 /* Send mainREG_TEST_1_STILL_EXECUTING to the check task to indicate that this
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577 task is still functioning. */
\r
578 prvSendImAlive( xQueue, mainREG_TEST_1_STILL_EXECUTING );
\r
580 /* Go back to check all the register values again. */
\r
581 __asm volatile( " B reg1loop " );
\r
584 /*-----------------------------------------------------------*/
\r
586 static void prvRegTest2Task( void *pvParameters )
\r
588 /* The queue handle is passed in as the task parameter. This is one method of
\r
589 passing data into a protected task, the other reg test task uses a different
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591 xQueueHandle xQueue = ( xQueueHandle ) pvParameters;
\r
595 /* This task tests the kernel context switch mechanism by reading and
\r
596 writing directly to registers - which requires the test to be written
\r
597 in assembly code. */
\r
600 " MOV R4, #4 \n" /* Set registers to a known value. R0 to R1 are done in the loop below. */
\r
603 " MOV R8, #8 \n" /* Frame pointer is omitted as it must not be changed. */
\r
608 " MOV R0, #13 \n" /* Set the scratch registers to known values - done inside the loop as they get clobbered. */
\r
613 " CMP R0, #13 \n" /* Check all the registers still contain their expected values. */
\r
614 " BNE prvDeleteMe \n" /* Value was not as expected, delete the task so it stops communicating with the check task */
\r
616 " BNE prvDeleteMe \n"
\r
618 " BNE prvDeleteMe \n"
\r
620 " BNE prvDeleteMe \n"
\r
622 " BNE prvDeleteMe \n"
\r
624 " BNE prvDeleteMe \n"
\r
626 " BNE prvDeleteMe \n"
\r
628 " BNE prvDeleteMe \n"
\r
630 " BNE prvDeleteMe \n"
\r
632 " BNE prvDeleteMe \n"
\r
634 " BNE prvDeleteMe \n"
\r
636 " BNE prvDeleteMe \n"
\r
637 :::"r0", "r1", "r2", "r3", "r4", "r5", "r6", "r8", "r9", "r10", "r11", "r12"
\r
640 /* Send mainREG_TEST_2_STILL_EXECUTING to the check task to indicate that this
\r
641 task is still functioning. */
\r
642 prvSendImAlive( xQueue, mainREG_TEST_2_STILL_EXECUTING );
\r
644 /* Go back to check all the register values again. */
\r
645 __asm volatile( " B reg2loop " );
\r
648 /*-----------------------------------------------------------*/
\r
650 void vApplicationIdleHook( void )
\r
652 extern unsigned long __SRAM_segment_end__[];
\r
653 extern unsigned long __privileged_data_start__[];
\r
654 extern unsigned long __privileged_data_end__[];
\r
655 extern unsigned long __FLASH_segment_start__[];
\r
656 extern unsigned long __FLASH_segment_end__[];
\r
657 volatile unsigned long *pul;
\r
658 volatile unsigned long ulReadData;
\r
660 /* The idle task, and therefore this function, run in Supervisor mode and
\r
661 can therefore access all memory. Try reading from corners of flash and
\r
662 RAM to ensure a memory fault does not occur.
\r
664 Start with the edges of the privileged data area. */
\r
665 pul = __privileged_data_start__;
\r
667 pul = __privileged_data_end__ - 1;
\r
670 /* Next the standard SRAM area. */
\r
671 pul = __SRAM_segment_end__ - 1;
\r
674 /* And the standard Flash area - the start of which is marked for
\r
675 privileged access only. */
\r
676 pul = __FLASH_segment_start__;
\r
678 pul = __FLASH_segment_end__ - 1;
\r
681 /* Reading off the end of Flash or SRAM space should cause a fault.
\r
682 Uncomment one of the following two pairs of lines to test. */
\r
684 /* pul = __FLASH_segment_end__ + 4;
\r
685 ulReadData = *pul; */
\r
687 /* pul = __SRAM_segment_end__ + 1;
\r
688 ulReadData = *pul; */
\r
690 ( void ) ulReadData;
\r
692 /*-----------------------------------------------------------*/
\r
694 static void prvOldStyleUserModeTask( void *pvParameters )
\r
696 extern unsigned long __privileged_data_start__[];
\r
697 extern unsigned long __privileged_data_end__[];
\r
698 extern unsigned long __SRAM_segment_end__[];
\r
699 extern unsigned long __privileged_functions_end__[];
\r
700 extern unsigned long __FLASH_segment_start__[];
\r
701 extern unsigned long __FLASH_segment_end__[];
\r
702 const volatile unsigned long *pulStandardPeripheralRegister = ( volatile unsigned long * ) 0x400FC0C4; /* PCONP */
\r
703 volatile unsigned long *pul;
\r
704 volatile unsigned long ulReadData;
\r
706 /* The following lines are commented out to prevent the unused variable
\r
707 compiler warnings when the tests that use the variable are also commented out.
\r
708 extern unsigned long __privileged_functions_start__[];
\r
709 const volatile unsigned long *pulSystemPeripheralRegister = ( volatile unsigned long * ) 0xe000e014; */
\r
711 ( void ) pvParameters;
\r
713 /* This task is created in User mode using the original xTaskCreate() API
\r
714 function. It should have access to all Flash and RAM except that marked
\r
715 as Privileged access only. Reading from the start and end of the non-
\r
716 privileged RAM should not cause a problem (the privileged RAM is the first
\r
717 block at the bottom of the RAM memory). */
\r
718 pul = __privileged_data_end__ + 1;
\r
720 pul = __SRAM_segment_end__ - 1;
\r
723 /* Likewise reading from the start and end of the non-privileged Flash
\r
724 should not be a problem (the privileged Flash is the first block at the
\r
725 bottom of the Flash memory). */
\r
726 pul = __privileged_functions_end__ + 1;
\r
728 pul = __FLASH_segment_end__ - 1;
\r
731 /* Standard peripherals are accessible. */
\r
732 ulReadData = *pulStandardPeripheralRegister;
\r
734 /* System peripherals are not accessible. Uncomment the following line
\r
735 to test. Also uncomment the declaration of pulSystemPeripheralRegister
\r
736 at the top of this function. */
\r
737 /* ulReadData = *pulSystemPeripheralRegister; */
\r
739 /* Reading from anywhere inside the privileged Flash or RAM should cause a
\r
740 fault. This can be tested by uncommenting any of the following pairs of
\r
741 lines. Also uncomment the declaration of __privileged_functions_start__
\r
742 at the top of this function. */
\r
744 /* pul = __privileged_functions_start__;
\r
745 ulReadData = *pul; */
\r
747 /* pul = __privileged_functions_end__ - 1;
\r
748 ulReadData = *pul; */
\r
750 /* pul = __privileged_data_start__;
\r
751 ulReadData = *pul; */
\r
753 /* pul = __privileged_data_end__ - 1;
\r
754 ulReadData = *pul; */
\r
756 /* Must not just run off the end of a task function, so delete this task.
\r
757 Note that because this task was created using xTaskCreate() the stack was
\r
758 allocated dynamically and I have not included any code to free it again. */
\r
759 vTaskDelete( NULL );
\r
761 ( void ) ulReadData;
\r
763 /*-----------------------------------------------------------*/
\r
765 static void prvOldStylePrivilegedModeTask( void *pvParameters )
\r
767 extern unsigned long __privileged_data_start__[];
\r
768 extern unsigned long __privileged_data_end__[];
\r
769 extern unsigned long __SRAM_segment_end__[];
\r
770 extern unsigned long __privileged_functions_start__[];
\r
771 extern unsigned long __privileged_functions_end__[];
\r
772 extern unsigned long __FLASH_segment_start__[];
\r
773 extern unsigned long __FLASH_segment_end__[];
\r
774 volatile unsigned long *pul;
\r
775 volatile unsigned long ulReadData;
\r
776 const volatile unsigned long *pulSystemPeripheralRegister = ( volatile unsigned long * ) 0xe000e014; /* Systick */
\r
777 const volatile unsigned long *pulStandardPeripheralRegister = ( volatile unsigned long * ) 0x400FC0C4; /* PCONP */
\r
779 ( void ) pvParameters;
\r
781 /* This task is created in Privileged mode using the original xTaskCreate()
\r
782 API function. It should have access to all Flash and RAM including that
\r
783 marked as Privileged access only. So reading from the start and end of the
\r
784 non-privileged RAM should not cause a problem (the privileged RAM is the
\r
785 first block at the bottom of the RAM memory). */
\r
786 pul = __privileged_data_end__ + 1;
\r
788 pul = __SRAM_segment_end__ - 1;
\r
791 /* Likewise reading from the start and end of the non-privileged Flash
\r
792 should not be a problem (the privileged Flash is the first block at the
\r
793 bottom of the Flash memory). */
\r
794 pul = __privileged_functions_end__ + 1;
\r
796 pul = __FLASH_segment_end__ - 1;
\r
799 /* Reading from anywhere inside the privileged Flash or RAM should also
\r
800 not be a problem. */
\r
801 pul = __privileged_functions_start__;
\r
803 pul = __privileged_functions_end__ - 1;
\r
805 pul = __privileged_data_start__;
\r
807 pul = __privileged_data_end__ - 1;
\r
810 /* Finally, accessing both System and normal peripherals should both be
\r
812 ulReadData = *pulSystemPeripheralRegister;
\r
813 ulReadData = *pulStandardPeripheralRegister;
\r
815 /* Must not just run off the end of a task function, so delete this task.
\r
816 Note that because this task was created using xTaskCreate() the stack was
\r
817 allocated dynamically and I have not included any code to free it again. */
\r
818 vTaskDelete( NULL );
\r
820 ( void ) ulReadData;
\r
822 /*-----------------------------------------------------------*/
\r
824 static void prvDeleteMe( void )
\r
826 vTaskDelete( NULL );
\r
828 /*-----------------------------------------------------------*/
\r
830 static void prvSendImAlive( xQueueHandle xHandle, unsigned long ulTaskNumber )
\r
832 if( xHandle != NULL )
\r
834 xQueueSend( xHandle, &ulTaskNumber, mainDONT_BLOCK );
\r
837 /*-----------------------------------------------------------*/
\r
839 static void prvSetupHardware( void )
\r
841 /* If running on Rev A2 silicon, turn the LDO voltage up to 2.75V. This is
\r
842 a workaround to allow the PLL to operate reliably. */
\r
843 if( DEVICE_IS_REVA2 )
\r
845 SysCtlLDOSet( SYSCTL_LDO_2_75V );
\r
848 /* Set the clocking to run from the PLL at 50 MHz */
\r
849 SysCtlClockSet( SYSCTL_SYSDIV_4 | SYSCTL_USE_PLL | SYSCTL_OSC_MAIN | SYSCTL_XTAL_8MHZ );
\r
851 /*-----------------------------------------------------------*/
\r
853 void vApplicationTickHook( void )
\r
855 static unsigned long ulCallCount;
\r
856 const unsigned long ulCallsBetweenSends = 5000 / portTICK_RATE_MS;
\r
857 const unsigned long ulMessage = mainPRINT_SYSTEM_STATUS;
\r
858 portBASE_TYPE xDummy;
\r
860 /* If configUSE_TICK_HOOK is set to 1 then this function will get called
\r
861 from each RTOS tick. It is called from the tick interrupt and therefore
\r
862 will be executing in the privileged state. */
\r
866 /* Is it time to print out the pass/fail message again? */
\r
867 if( ulCallCount >= ulCallsBetweenSends )
\r
871 /* Send a message to the check task to command it to check that all
\r
872 the tasks are still running then print out the status.
\r
874 This is running in an ISR so has to use the "FromISR" version of
\r
875 xQueueSend(). Because it is in an ISR it is running with privileges
\r
876 so can access xFileScopeCheckQueue directly. */
\r
877 xQueueSendFromISR( xFileScopeCheckQueue, &ulMessage, &xDummy );
\r
880 /*-----------------------------------------------------------*/
\r
882 void vApplicationStackOverflowHook( xTaskHandle pxTask, signed char *pcTaskName )
\r
884 /* If configCHECK_FOR_STACK_OVERFLOW is set to either 1 or 2 then this
\r
885 function will automatically get called if a task overflows its stack. */
\r
887 ( void ) pcTaskName;
\r
890 /*-----------------------------------------------------------*/
\r
892 void vApplicationMallocFailedHook( void )
\r
894 /* If configUSE_MALLOC_FAILED_HOOK is set to 1 then this function will
\r
895 be called automatically if a call to pvPortMalloc() fails. pvPortMalloc()
\r
896 is called automatically when a task, queue or semaphore is created. */
\r
899 /*-----------------------------------------------------------*/
\r
901 /* Just to keep the linker happy. */
\r
902 void __error__( char *pcFilename, unsigned long ulLine )
\r
904 ( void ) pcFilename;
\r
908 /*-----------------------------------------------------------*/
\r
910 /* Just to keep the linker happy. */
\r
911 int uipprintf( const char *fmt, ... )
\r
916 /*-----------------------------------------------------------*/
\r
918 void hard_fault_handler(unsigned int * hardfault_args)
\r
920 volatile unsigned int stacked_r0;
\r
921 volatile unsigned int stacked_r1;
\r
922 volatile unsigned int stacked_r2;
\r
923 volatile unsigned int stacked_r3;
\r
924 volatile unsigned int stacked_r12;
\r
925 volatile unsigned int stacked_lr;
\r
926 volatile unsigned int stacked_pc;
\r
927 volatile unsigned int stacked_psr;
\r
929 stacked_r0 = ((unsigned long) hardfault_args[0]);
\r
930 stacked_r1 = ((unsigned long) hardfault_args[1]);
\r
931 stacked_r2 = ((unsigned long) hardfault_args[2]);
\r
932 stacked_r3 = ((unsigned long) hardfault_args[3]);
\r
934 stacked_r12 = ((unsigned long) hardfault_args[4]);
\r
935 stacked_lr = ((unsigned long) hardfault_args[5]);
\r
936 stacked_pc = ((unsigned long) hardfault_args[6]);
\r
937 stacked_psr = ((unsigned long) hardfault_args[7]);
\r
939 /* Inspect stacked_pc to locate the offending instruction. */
\r
942 ( void ) stacked_psr;
\r
943 ( void ) stacked_pc;
\r
944 ( void ) stacked_lr;
\r
945 ( void ) stacked_r12;
\r
946 ( void ) stacked_r0;
\r
947 ( void ) stacked_r1;
\r
948 ( void ) stacked_r2;
\r
949 ( void ) stacked_r3;
\r
951 /*-----------------------------------------------------------*/
\r
953 void Fault_ISR( void ) __attribute__((naked));
\r
954 void Fault_ISR( void )
\r
960 " mrseq r0, msp \n"
\r
961 " mrsne r0, psp \n"
\r
962 " ldr r1, [r0, #24] \n"
\r
963 " ldr r2, handler_address_const \n"
\r
965 " handler_address_const: .word hard_fault_handler \n"
\r
968 /*-----------------------------------------------------------*/
\r
970 void MPU_Fault_ISR( void ) __attribute__((naked));
\r
971 void MPU_Fault_ISR( void )
\r
977 " mrseq r0, msp \n"
\r
978 " mrsne r0, psp \n"
\r
979 " ldr r1, [r0, #24] \n"
\r
980 " ldr r2, handler_address_const \n"
\r
982 " handler2_address_const: .word hard_fault_handler \n"
\r
985 /*-----------------------------------------------------------*/
projects / freertos / blob