2 FreeRTOS V9.0.0rc2 - 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 original xTaskCreate() and
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74 * the new xTaskCreateRestricted() API functions. The purpose of each created
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75 * task is documented in the comments above the task function prototype (in
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76 * this file), with the task behaviour demonstrated and documented within the
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77 * task function itself. In addition a queue is used to demonstrate passing
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78 * data between protected/restricted tasks as well as passing data between an
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79 * interrupt and a protected/restricted task.
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84 /* Standard includes. */
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86 #include <__cross_studio_io.h>
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88 /* Scheduler includes. */
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89 #include "FreeRTOS.h"
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94 /* Hardware library includes. */
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95 #include "hw_types.h"
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96 #include "hw_sysctl.h"
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99 /*-----------------------------------------------------------*/
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101 /* Misc constants. */
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102 #define mainDONT_BLOCK ( 0 )
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104 /* Definitions for the messages that can be sent to the check task. */
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105 #define mainREG_TEST_1_STILL_EXECUTING ( 0 )
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106 #define mainREG_TEST_2_STILL_EXECUTING ( 1 )
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107 #define mainPRINT_SYSTEM_STATUS ( 2 )
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109 /* GCC specifics. */
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110 #define mainALIGN_TO( x ) __attribute__((aligned(x)))
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113 /*-----------------------------------------------------------*/
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114 /* Prototypes for functions that implement tasks. -----------*/
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115 /*-----------------------------------------------------------*/
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118 * Prototype for the reg test tasks. Amongst other things, these fill the CPU
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119 * registers with known values before checking that the registers still contain
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120 * the expected values. Each of the two tasks use different values so an error
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121 * in the context switch mechanism can be caught. Both reg test tasks execute
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122 * at the idle priority so will get preempted regularly. Each task repeatedly
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123 * sends a message on a queue so long as it remains functioning correctly. If
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124 * an error is detected within the task the task is simply deleted.
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126 static void prvRegTest1Task( void *pvParameters );
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127 static void prvRegTest2Task( void *pvParameters );
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130 * Prototype for the check task. The check task demonstrates various features
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131 * of the MPU before entering a loop where it waits for messages to arrive on a
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134 * Two types of messages can be processes:
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136 * 1) "I'm Alive" messages sent from the reg test tasks, indicating that the
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137 * task is still operational.
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139 * 2) "Print Status commands" sent periodically by the tick hook function (and
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140 * therefore from within an interrupt) which command the check task to write
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141 * either pass or fail to the terminal, depending on the status of the reg
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144 static void prvCheckTask( void *pvParameters );
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147 * Prototype for a task created in User mode using the original vTaskCreate()
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148 * API function. The task demonstrates the characteristics of such a task,
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149 * before simply deleting itself.
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151 static void prvOldStyleUserModeTask( void *pvParameters );
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154 * Prototype for a task created in Privileged mode using the original
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155 * vTaskCreate() API function. The task demonstrates the characteristics of
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156 * such a task, before simply deleting itself.
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158 static void prvOldStylePrivilegedModeTask( void *pvParameters );
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161 /*-----------------------------------------------------------*/
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162 /* Prototypes for other misc functions. --------------------*/
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163 /*-----------------------------------------------------------*/
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166 * Just configures any clocks and IO necessary.
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168 static void prvSetupHardware( void );
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171 * Simply deletes the calling task. The function is provided only because it
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172 * is simpler to call from asm code than the normal vTaskDelete() API function.
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173 * It has the noinline attribute because it is called from asm code.
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175 static void prvDeleteMe( void ) __attribute__((noinline));
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178 * Used by both reg test tasks to send messages to the check task. The message
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179 * just lets the check task know that the task is still functioning correctly.
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180 * If a reg test task detects an error it will delete itself, and in so doing
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181 * prevent itself from sending any more 'I'm Alive' messages to the check task.
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183 static void prvSendImAlive( QueueHandle_t xHandle, unsigned long ulTaskNumber );
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186 * The check task is created with access to three memory regions (plus its
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187 * stack). Each memory region is configured with different parameters and
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188 * prvTestMemoryRegions() demonstrates what can and cannot be accessed for each
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189 * region. prvTestMemoryRegions() also demonstrates a task that was created
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190 * as a privileged task settings its own privilege level down to that of a user
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193 static void prvTestMemoryRegions( void );
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195 /*-----------------------------------------------------------*/
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197 /* The handle of the queue used to communicate between tasks and between tasks
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198 and interrupts. Note that this is a file scope variable that falls outside of
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199 any MPU region. As such other techniques have to be used to allow the tasks
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200 to gain access to the queue. See the comments in the tasks themselves for
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201 further information. */
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202 static QueueHandle_t xFileScopeCheckQueue = NULL;
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205 /*-----------------------------------------------------------*/
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206 /* Data used by the 'check' task. ---------------------------*/
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207 /*-----------------------------------------------------------*/
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209 /* Define the constants used to allocate the check task stack. Note that the
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210 stack size is defined in words, not bytes. */
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211 #define mainCHECK_TASK_STACK_SIZE_WORDS 128
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212 #define mainCHECK_TASK_STACK_ALIGNMENT ( mainCHECK_TASK_STACK_SIZE_WORDS * sizeof( portSTACK_TYPE ) )
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214 /* Declare the stack that will be used by the check task. The kernel will
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215 automatically create an MPU region for the stack. The stack alignment must
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216 match its size, so if 128 words are reserved for the stack then it must be
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217 aligned to ( 128 * 4 ) bytes. */
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218 static portSTACK_TYPE xCheckTaskStack[ mainCHECK_TASK_STACK_SIZE_WORDS ] mainALIGN_TO( mainCHECK_TASK_STACK_ALIGNMENT );
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220 /* Declare three arrays - an MPU region will be created for each array
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221 using the TaskParameters_t structure below. THIS IS JUST TO DEMONSTRATE THE
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222 MPU FUNCTIONALITY, the data is not used by the check tasks primary function
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223 of monitoring the reg test tasks and printing out status information.
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225 Note that the arrays allocate slightly more RAM than is actually assigned to
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226 the MPU region. This is to permit writes off the end of the array to be
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227 detected even when the arrays are placed in adjacent memory locations (with no
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228 gaps between them). The align size must be a power of two. */
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229 #define mainREAD_WRITE_ARRAY_SIZE 130
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230 #define mainREAD_WRITE_ALIGN_SIZE 128
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231 char cReadWriteArray[ mainREAD_WRITE_ARRAY_SIZE ] mainALIGN_TO( mainREAD_WRITE_ALIGN_SIZE );
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233 #define mainREAD_ONLY_ARRAY_SIZE 260
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234 #define mainREAD_ONLY_ALIGN_SIZE 256
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235 char cReadOnlyArray[ mainREAD_ONLY_ARRAY_SIZE ] mainALIGN_TO( mainREAD_ONLY_ALIGN_SIZE );
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237 #define mainPRIVILEGED_ONLY_ACCESS_ARRAY_SIZE 130
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238 #define mainPRIVILEGED_ONLY_ACCESS_ALIGN_SIZE 128
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239 char cPrivilegedOnlyAccessArray[ mainPRIVILEGED_ONLY_ACCESS_ALIGN_SIZE ] mainALIGN_TO( mainPRIVILEGED_ONLY_ACCESS_ALIGN_SIZE );
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241 /* Fill in a TaskParameters_t structure to define the check task - this is the
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242 structure passed to the xTaskCreateRestricted() function. */
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243 static const TaskParameters_t xCheckTaskParameters =
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245 prvCheckTask, /* pvTaskCode - the function that implements the task. */
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246 "Check", /* pcName */
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247 mainCHECK_TASK_STACK_SIZE_WORDS, /* usStackDepth - defined in words, not bytes. */
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248 ( void * ) 0x12121212, /* pvParameters - this value is just to test that the parameter is being passed into the task correctly. */
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249 ( 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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250 xCheckTaskStack, /* puxStackBuffer - the array to use as the task stack, as declared above. */
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252 /* xRegions - In this case the xRegions array is used to create MPU regions
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253 for all three of the arrays declared directly above. Each MPU region is
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254 created with different parameters. Again, THIS IS JUST TO DEMONSTRATE THE
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255 MPU FUNCTIONALITY, the data is not used by the check tasks primary function
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256 of monitoring the reg test tasks and printing out status information.*/
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258 /* Base address Length Parameters */
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259 { cReadWriteArray, mainREAD_WRITE_ALIGN_SIZE, portMPU_REGION_READ_WRITE },
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260 { cReadOnlyArray, mainREAD_ONLY_ALIGN_SIZE, portMPU_REGION_READ_ONLY },
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261 { cPrivilegedOnlyAccessArray, mainPRIVILEGED_ONLY_ACCESS_ALIGN_SIZE, portMPU_REGION_PRIVILEGED_READ_WRITE }
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267 /*-----------------------------------------------------------*/
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268 /* Data used by the 'reg test' tasks. -----------------------*/
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269 /*-----------------------------------------------------------*/
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271 /* Define the constants used to allocate the reg test task stacks. Note that
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272 that stack size is defined in words, not bytes. */
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273 #define mainREG_TEST_STACK_SIZE_WORDS 128
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274 #define mainREG_TEST_STACK_ALIGNMENT ( mainREG_TEST_STACK_SIZE_WORDS * sizeof( portSTACK_TYPE ) )
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276 /* Declare the stacks that will be used by the reg test tasks. The kernel will
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277 automatically create an MPU region for the stack. The stack alignment must
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278 match its size, so if 128 words are reserved for the stack then it must be
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279 aligned to ( 128 * 4 ) bytes. */
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280 static portSTACK_TYPE xRegTest1Stack[ mainREG_TEST_STACK_SIZE_WORDS ] mainALIGN_TO( mainREG_TEST_STACK_ALIGNMENT );
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281 static portSTACK_TYPE xRegTest2Stack[ mainREG_TEST_STACK_SIZE_WORDS ] mainALIGN_TO( mainREG_TEST_STACK_ALIGNMENT );
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283 /* Fill in a TaskParameters_t structure per reg test task to define the tasks. */
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284 static const TaskParameters_t xRegTest1Parameters =
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286 prvRegTest1Task, /* pvTaskCode - the function that implements the task. */
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287 "RegTest1", /* pcName */
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288 mainREG_TEST_STACK_SIZE_WORDS, /* usStackDepth */
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289 ( void * ) 0x12345678, /* pvParameters - this value is just to test that the parameter is being passed into the task correctly. */
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290 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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291 xRegTest1Stack, /* puxStackBuffer - the array to use as the task stack, as declared above. */
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292 { /* xRegions - this task does not use any non-stack data hence all members are zero. */
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293 /* Base address Length Parameters */
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294 { 0x00, 0x00, 0x00 },
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295 { 0x00, 0x00, 0x00 },
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296 { 0x00, 0x00, 0x00 }
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299 /*-----------------------------------------------------------*/
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301 static TaskParameters_t xRegTest2Parameters =
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303 prvRegTest2Task, /* pvTaskCode - the function that implements the task. */
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304 "RegTest2", /* pcName */
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305 mainREG_TEST_STACK_SIZE_WORDS, /* usStackDepth */
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306 ( 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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307 tskIDLE_PRIORITY, /* uxPriority */
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308 xRegTest2Stack, /* puxStackBuffer - the array to use as the task stack, as declared above. */
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309 { /* xRegions - this task does not use any non-stack data hence all members are zero. */
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310 /* Base address Length Parameters */
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311 { 0x00, 0x00, 0x00 },
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312 { 0x00, 0x00, 0x00 },
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313 { 0x00, 0x00, 0x00 }
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317 /*-----------------------------------------------------------*/
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321 prvSetupHardware();
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323 /* Create the queue used to pass "I'm alive" messages to the check task. */
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324 xFileScopeCheckQueue = xQueueCreate( 1, sizeof( unsigned long ) );
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326 /* One check task uses the task parameter to receive the queue handle.
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327 This allows the file scope variable to be accessed from within the task.
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328 The pvParameters member of xRegTest2Parameters can only be set after the
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329 queue has been created so is set here. */
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330 xRegTest2Parameters.pvParameters = xFileScopeCheckQueue;
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332 /* Create the three test tasks. Handles to the created tasks are not
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333 required, hence the second parameter is NULL. */
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334 xTaskCreateRestricted( &xRegTest1Parameters, NULL );
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335 xTaskCreateRestricted( &xRegTest2Parameters, NULL );
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336 xTaskCreateRestricted( &xCheckTaskParameters, NULL );
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338 /* Create the tasks that are created using the original xTaskCreate() API
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340 xTaskCreate( prvOldStyleUserModeTask, /* The function that implements the task. */
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341 "Task1", /* Text name for the task. */
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342 100, /* Stack depth in words. */
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343 NULL, /* Task parameters. */
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344 3, /* Priority and mode (user in this case). */
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348 xTaskCreate( prvOldStylePrivilegedModeTask, /* The function that implements the task. */
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349 "Task2", /* Text name for the task. */
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350 100, /* Stack depth in words. */
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351 NULL, /* Task parameters. */
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352 ( 3 | portPRIVILEGE_BIT ), /* Priority and mode. */
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356 /* Start the scheduler. */
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357 vTaskStartScheduler();
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359 /* Will only get here if there was insufficient memory to create the idle
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364 /*-----------------------------------------------------------*/
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366 static void prvCheckTask( void *pvParameters )
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368 /* This task is created in privileged mode so can access the file scope
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369 queue variable. Take a stack copy of this before the task is set into user
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370 mode. Once that task is in user mode the file scope queue variable will no
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371 longer be accessible but the stack copy will. */
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372 QueueHandle_t xQueue = xFileScopeCheckQueue;
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374 unsigned long ulStillAliveCounts[ 2 ] = { 0 };
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375 const char *pcStatusMessage = "PASS\r\n";
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377 /* The debug_printf() function uses RAM that is outside of the control of the
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378 application writer. Therefore the application_defined_privileged_functions.h
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379 header file is used to provide a version that executes with privileges. */
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380 extern int MPU_debug_printf( const char *pcMessage );
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382 /* Just to remove compiler warning. */
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383 ( void ) pvParameters;
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385 /* Demonstrate how the various memory regions can and can't be accessed.
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386 The task privilege level is set down to user mode within this function. */
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387 prvTestMemoryRegions();
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389 /* Tests are done so lower the privilege status. */
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390 portSWITCH_TO_USER_MODE();
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392 /* This loop performs the main function of the task, which is blocking
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393 on a message queue then processing each message as it arrives. */
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396 /* Wait for the next message to arrive. */
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397 xQueueReceive( xQueue, &lMessage, portMAX_DELAY );
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401 case mainREG_TEST_1_STILL_EXECUTING :
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402 /* Message from task 1, so task 1 must still be executing. */
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403 ( ulStillAliveCounts[ 0 ] )++;
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406 case mainREG_TEST_2_STILL_EXECUTING :
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407 /* Message from task 2, so task 2 must still be executing. */
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408 ( ulStillAliveCounts[ 1 ] )++;
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411 case mainPRINT_SYSTEM_STATUS :
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412 /* Message from tick hook, time to print out the system
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413 status. If messages has stopped arriving from either reg
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414 test task then the status must be set to fail. */
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415 if( ( ulStillAliveCounts[ 0 ] == 0 ) || ( ulStillAliveCounts[ 1 ] == 0 ) )
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417 /* One or both of the test tasks are no longer sending
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418 'still alive' messages. */
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419 pcStatusMessage = "FAIL\r\n";
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422 /* Print a pass/fail message to the terminal. This will be
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423 visible in the CrossWorks IDE. */
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424 MPU_debug_printf( pcStatusMessage );
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426 /* Reset the count of 'still alive' messages. */
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427 memset( ulStillAliveCounts, 0x00, sizeof( ulStillAliveCounts ) );
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431 /* Something unexpected happened. Delete this task so the
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432 error is apparent (no output will be displayed). */
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438 /*-----------------------------------------------------------*/
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440 static void prvTestMemoryRegions( void )
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445 /* The check task (from which this function is called) is created in the
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446 Privileged mode. The privileged array can be both read from and written
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447 to while this task is privileged. */
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448 cPrivilegedOnlyAccessArray[ 0 ] = 'a';
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449 if( cPrivilegedOnlyAccessArray[ 0 ] != 'a' )
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451 /* Something unexpected happened. Delete this task so the error is
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452 apparent (no output will be displayed). */
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456 /* Writing off the end of the RAM allocated to this task will *NOT* cause a
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457 protection fault because the task is still executing in a privileged mode.
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458 Uncomment the following to test. */
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459 /*cPrivilegedOnlyAccessArray[ mainPRIVILEGED_ONLY_ACCESS_ALIGN_SIZE ] = 'a';*/
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461 /* Now set the task into user mode. */
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462 portSWITCH_TO_USER_MODE();
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464 /* Accessing the privileged only array will now cause a fault. Uncomment
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465 the following line to test. */
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466 /*cPrivilegedOnlyAccessArray[ 0 ] = 'a';*/
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468 /* The read/write array can still be successfully read and written. */
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469 for( l = 0; l < mainREAD_WRITE_ALIGN_SIZE; l++ )
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471 cReadWriteArray[ l ] = 'a';
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472 if( cReadWriteArray[ l ] != 'a' )
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474 /* Something unexpected happened. Delete this task so the error is
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475 apparent (no output will be displayed). */
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480 /* But attempting to read or write off the end of the RAM allocated to this
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481 task will cause a fault. Uncomment either of the following two lines to
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483 /* cReadWriteArray[ 0 ] = cReadWriteArray[ -1 ]; */
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484 /* cReadWriteArray[ mainREAD_WRITE_ALIGN_SIZE ] = 0x00; */
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486 /* The read only array can be successfully read... */
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487 for( l = 0; l < mainREAD_ONLY_ALIGN_SIZE; l++ )
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489 cTemp = cReadOnlyArray[ l ];
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492 /* ...but cannot be written. Uncomment the following line to test. */
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493 /* cReadOnlyArray[ 0 ] = 'a'; */
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495 /* Writing to the first and last locations in the stack array should not
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496 cause a protection fault. Note that doing this will cause the kernel to
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497 detect a stack overflow if configCHECK_FOR_STACK_OVERFLOW is greater than
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499 xCheckTaskStack[ 0 ] = 0;
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500 xCheckTaskStack[ mainCHECK_TASK_STACK_SIZE_WORDS - 1 ] = 0;
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502 /* Writing off either end of the stack array should cause a protection
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503 fault, uncomment either of the following two lines to test. */
\r
504 /* xCheckTaskStack[ -1 ] = 0; */
\r
505 /* xCheckTaskStack[ mainCHECK_TASK_STACK_SIZE_WORDS ] = 0; */
\r
509 /*-----------------------------------------------------------*/
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511 static void prvRegTest1Task( void *pvParameters )
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513 /* This task is created in privileged mode so can access the file scope
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514 queue variable. Take a stack copy of this before the task is set into user
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515 mode. Once this task is in user mode the file scope queue variable will no
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516 longer be accessible but the stack copy will. */
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517 QueueHandle_t xQueue = xFileScopeCheckQueue;
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519 /* Now the queue handle has been obtained the task can switch to user
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520 mode. This is just one method of passing a handle into a protected
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521 task, the other reg test task uses the task parameter instead. */
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522 portSWITCH_TO_USER_MODE();
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524 /* First check that the parameter value is as expected. */
\r
525 if( pvParameters != ( void * ) 0x12345678 )
\r
527 /* Error detected. Delete the task so it stops communicating with
\r
535 /* This task tests the kernel context switch mechanism by reading and
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536 writing directly to registers - which requires the test to be written
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537 in assembly code. */
\r
540 " MOV R4, #104 \n" /* Set registers to a known value. R0 to R1 are done in the loop below. */
\r
545 " MOV R10, #110 \n"
\r
546 " MOV R11, #111 \n"
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548 " MOV R0, #100 \n" /* Set the scratch registers to known values - done inside the loop as they get clobbered. */
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552 " MOV R12, #112 \n"
\r
553 " SVC #1 \n" /* Yield just to increase test coverage. */
\r
554 " CMP R0, #100 \n" /* Check all the registers still contain their expected values. */
\r
555 " BNE prvDeleteMe \n" /* Value was not as expected, delete the task so it stops communicating with the check task. */
\r
557 " BNE prvDeleteMe \n"
\r
559 " BNE prvDeleteMe \n"
\r
561 " BNE prvDeleteMe \n"
\r
563 " BNE prvDeleteMe \n"
\r
565 " BNE prvDeleteMe \n"
\r
567 " BNE prvDeleteMe \n"
\r
569 " BNE prvDeleteMe \n"
\r
571 " BNE prvDeleteMe \n"
\r
572 " CMP R10, #110 \n"
\r
573 " BNE prvDeleteMe \n"
\r
574 " CMP R11, #111 \n"
\r
575 " BNE prvDeleteMe \n"
\r
576 " CMP R12, #112 \n"
\r
577 " BNE prvDeleteMe \n"
\r
578 :::"r0", "r1", "r2", "r3", "r4", "r5", "r6", "r8", "r9", "r10", "r11", "r12"
\r
581 /* Send mainREG_TEST_1_STILL_EXECUTING to the check task to indicate that this
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582 task is still functioning. */
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583 prvSendImAlive( xQueue, mainREG_TEST_1_STILL_EXECUTING );
\r
585 /* Go back to check all the register values again. */
\r
586 __asm volatile( " B reg1loop " );
\r
589 /*-----------------------------------------------------------*/
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591 static void prvRegTest2Task( void *pvParameters )
\r
593 /* The queue handle is passed in as the task parameter. This is one method of
\r
594 passing data into a protected task, the other reg test task uses a different
\r
596 QueueHandle_t xQueue = ( QueueHandle_t ) pvParameters;
\r
600 /* This task tests the kernel context switch mechanism by reading and
\r
601 writing directly to registers - which requires the test to be written
\r
602 in assembly code. */
\r
605 " MOV R4, #4 \n" /* Set registers to a known value. R0 to R1 are done in the loop below. */
\r
608 " MOV R8, #8 \n" /* Frame pointer is omitted as it must not be changed. */
\r
613 " MOV R0, #13 \n" /* Set the scratch registers to known values - done inside the loop as they get clobbered. */
\r
618 " CMP R0, #13 \n" /* Check all the registers still contain their expected values. */
\r
619 " BNE prvDeleteMe \n" /* Value was not as expected, delete the task so it stops communicating with the check task */
\r
621 " BNE prvDeleteMe \n"
\r
623 " BNE prvDeleteMe \n"
\r
625 " BNE prvDeleteMe \n"
\r
627 " BNE prvDeleteMe \n"
\r
629 " BNE prvDeleteMe \n"
\r
631 " BNE prvDeleteMe \n"
\r
633 " BNE prvDeleteMe \n"
\r
635 " BNE prvDeleteMe \n"
\r
637 " BNE prvDeleteMe \n"
\r
639 " BNE prvDeleteMe \n"
\r
641 " BNE prvDeleteMe \n"
\r
642 :::"r0", "r1", "r2", "r3", "r4", "r5", "r6", "r8", "r9", "r10", "r11", "r12"
\r
645 /* Send mainREG_TEST_2_STILL_EXECUTING to the check task to indicate that this
\r
646 task is still functioning. */
\r
647 prvSendImAlive( xQueue, mainREG_TEST_2_STILL_EXECUTING );
\r
649 /* Go back to check all the register values again. */
\r
650 __asm volatile( " B reg2loop " );
\r
653 /*-----------------------------------------------------------*/
\r
655 void vApplicationIdleHook( void )
\r
657 extern unsigned long __SRAM_segment_end__[];
\r
658 extern unsigned long __privileged_data_start__[];
\r
659 extern unsigned long __privileged_data_end__[];
\r
660 extern unsigned long __FLASH_segment_start__[];
\r
661 extern unsigned long __FLASH_segment_end__[];
\r
662 volatile unsigned long *pul;
\r
663 volatile unsigned long ulReadData;
\r
665 /* The idle task, and therefore this function, run in Supervisor mode and
\r
666 can therefore access all memory. Try reading from corners of flash and
\r
667 RAM to ensure a memory fault does not occur.
\r
669 Start with the edges of the privileged data area. */
\r
670 pul = __privileged_data_start__;
\r
672 pul = __privileged_data_end__ - 1;
\r
675 /* Next the standard SRAM area. */
\r
676 pul = __SRAM_segment_end__ - 1;
\r
679 /* And the standard Flash area - the start of which is marked for
\r
680 privileged access only. */
\r
681 pul = __FLASH_segment_start__;
\r
683 pul = __FLASH_segment_end__ - 1;
\r
686 /* Reading off the end of Flash or SRAM space should cause a fault.
\r
687 Uncomment one of the following two pairs of lines to test. */
\r
689 /* pul = __FLASH_segment_end__ + 4;
\r
690 ulReadData = *pul; */
\r
692 /* pul = __SRAM_segment_end__ + 1;
\r
693 ulReadData = *pul; */
\r
695 ( void ) ulReadData;
\r
697 /*-----------------------------------------------------------*/
\r
699 static void prvOldStyleUserModeTask( void *pvParameters )
\r
701 extern unsigned long __privileged_data_start__[];
\r
702 extern unsigned long __privileged_data_end__[];
\r
703 extern unsigned long __SRAM_segment_end__[];
\r
704 extern unsigned long __privileged_functions_end__[];
\r
705 extern unsigned long __FLASH_segment_start__[];
\r
706 extern unsigned long __FLASH_segment_end__[];
\r
707 const volatile unsigned long *pulStandardPeripheralRegister = ( volatile unsigned long * ) 0x400FC0C4; /* PCONP */
\r
708 volatile unsigned long *pul;
\r
709 volatile unsigned long ulReadData;
\r
711 /* The following lines are commented out to prevent the unused variable
\r
712 compiler warnings when the tests that use the variable are also commented out.
\r
713 extern unsigned long __privileged_functions_start__[];
\r
714 const volatile unsigned long *pulSystemPeripheralRegister = ( volatile unsigned long * ) 0xe000e014; */
\r
716 ( void ) pvParameters;
\r
718 /* This task is created in User mode using the original xTaskCreate() API
\r
719 function. It should have access to all Flash and RAM except that marked
\r
720 as Privileged access only. Reading from the start and end of the non-
\r
721 privileged RAM should not cause a problem (the privileged RAM is the first
\r
722 block at the bottom of the RAM memory). */
\r
723 pul = __privileged_data_end__ + 1;
\r
725 pul = __SRAM_segment_end__ - 1;
\r
728 /* Likewise reading from the start and end of the non-privileged Flash
\r
729 should not be a problem (the privileged Flash is the first block at the
\r
730 bottom of the Flash memory). */
\r
731 pul = __privileged_functions_end__ + 1;
\r
733 pul = __FLASH_segment_end__ - 1;
\r
736 /* Standard peripherals are accessible. */
\r
737 ulReadData = *pulStandardPeripheralRegister;
\r
739 /* System peripherals are not accessible. Uncomment the following line
\r
740 to test. Also uncomment the declaration of pulSystemPeripheralRegister
\r
741 at the top of this function. */
\r
742 /* ulReadData = *pulSystemPeripheralRegister; */
\r
744 /* Reading from anywhere inside the privileged Flash or RAM should cause a
\r
745 fault. This can be tested by uncommenting any of the following pairs of
\r
746 lines. Also uncomment the declaration of __privileged_functions_start__
\r
747 at the top of this function. */
\r
749 /* pul = __privileged_functions_start__;
\r
750 ulReadData = *pul; */
\r
752 /* pul = __privileged_functions_end__ - 1;
\r
753 ulReadData = *pul; */
\r
755 /* pul = __privileged_data_start__;
\r
756 ulReadData = *pul; */
\r
758 /* pul = __privileged_data_end__ - 1;
\r
759 ulReadData = *pul; */
\r
761 /* Must not just run off the end of a task function, so delete this task.
\r
762 Note that because this task was created using xTaskCreate() the stack was
\r
763 allocated dynamically and I have not included any code to free it again. */
\r
764 vTaskDelete( NULL );
\r
766 ( void ) ulReadData;
\r
768 /*-----------------------------------------------------------*/
\r
770 static void prvOldStylePrivilegedModeTask( void *pvParameters )
\r
772 extern unsigned long __privileged_data_start__[];
\r
773 extern unsigned long __privileged_data_end__[];
\r
774 extern unsigned long __SRAM_segment_end__[];
\r
775 extern unsigned long __privileged_functions_start__[];
\r
776 extern unsigned long __privileged_functions_end__[];
\r
777 extern unsigned long __FLASH_segment_start__[];
\r
778 extern unsigned long __FLASH_segment_end__[];
\r
779 volatile unsigned long *pul;
\r
780 volatile unsigned long ulReadData;
\r
781 const volatile unsigned long *pulSystemPeripheralRegister = ( volatile unsigned long * ) 0xe000e014; /* Systick */
\r
782 const volatile unsigned long *pulStandardPeripheralRegister = ( volatile unsigned long * ) 0x400FC0C4; /* PCONP */
\r
784 ( void ) pvParameters;
\r
786 /* This task is created in Privileged mode using the original xTaskCreate()
\r
787 API function. It should have access to all Flash and RAM including that
\r
788 marked as Privileged access only. So reading from the start and end of the
\r
789 non-privileged RAM should not cause a problem (the privileged RAM is the
\r
790 first block at the bottom of the RAM memory). */
\r
791 pul = __privileged_data_end__ + 1;
\r
793 pul = __SRAM_segment_end__ - 1;
\r
796 /* Likewise reading from the start and end of the non-privileged Flash
\r
797 should not be a problem (the privileged Flash is the first block at the
\r
798 bottom of the Flash memory). */
\r
799 pul = __privileged_functions_end__ + 1;
\r
801 pul = __FLASH_segment_end__ - 1;
\r
804 /* Reading from anywhere inside the privileged Flash or RAM should also
\r
805 not be a problem. */
\r
806 pul = __privileged_functions_start__;
\r
808 pul = __privileged_functions_end__ - 1;
\r
810 pul = __privileged_data_start__;
\r
812 pul = __privileged_data_end__ - 1;
\r
815 /* Finally, accessing both System and normal peripherals should both be
\r
817 ulReadData = *pulSystemPeripheralRegister;
\r
818 ulReadData = *pulStandardPeripheralRegister;
\r
820 /* Must not just run off the end of a task function, so delete this task.
\r
821 Note that because this task was created using xTaskCreate() the stack was
\r
822 allocated dynamically and I have not included any code to free it again. */
\r
823 vTaskDelete( NULL );
\r
825 ( void ) ulReadData;
\r
827 /*-----------------------------------------------------------*/
\r
829 static void prvDeleteMe( void )
\r
831 vTaskDelete( NULL );
\r
833 /*-----------------------------------------------------------*/
\r
835 static void prvSendImAlive( QueueHandle_t xHandle, unsigned long ulTaskNumber )
\r
837 if( xHandle != NULL )
\r
839 xQueueSend( xHandle, &ulTaskNumber, mainDONT_BLOCK );
\r
842 /*-----------------------------------------------------------*/
\r
844 static void prvSetupHardware( void )
\r
846 /* If running on Rev A2 silicon, turn the LDO voltage up to 2.75V. This is
\r
847 a workaround to allow the PLL to operate reliably. */
\r
848 if( DEVICE_IS_REVA2 )
\r
850 SysCtlLDOSet( SYSCTL_LDO_2_75V );
\r
853 /* Set the clocking to run from the PLL at 50 MHz */
\r
854 SysCtlClockSet( SYSCTL_SYSDIV_4 | SYSCTL_USE_PLL | SYSCTL_OSC_MAIN | SYSCTL_XTAL_8MHZ );
\r
856 /*-----------------------------------------------------------*/
\r
858 void vApplicationTickHook( void )
\r
860 static unsigned long ulCallCount;
\r
861 const unsigned long ulCallsBetweenSends = 5000 / portTICK_PERIOD_MS;
\r
862 const unsigned long ulMessage = mainPRINT_SYSTEM_STATUS;
\r
863 portBASE_TYPE xDummy;
\r
865 /* If configUSE_TICK_HOOK is set to 1 then this function will get called
\r
866 from each RTOS tick. It is called from the tick interrupt and therefore
\r
867 will be executing in the privileged state. */
\r
871 /* Is it time to print out the pass/fail message again? */
\r
872 if( ulCallCount >= ulCallsBetweenSends )
\r
876 /* Send a message to the check task to command it to check that all
\r
877 the tasks are still running then print out the status.
\r
879 This is running in an ISR so has to use the "FromISR" version of
\r
880 xQueueSend(). Because it is in an ISR it is running with privileges
\r
881 so can access xFileScopeCheckQueue directly. */
\r
882 xQueueSendFromISR( xFileScopeCheckQueue, &ulMessage, &xDummy );
\r
885 /*-----------------------------------------------------------*/
\r
887 void vApplicationStackOverflowHook( TaskHandle_t pxTask, char *pcTaskName )
\r
889 /* If configCHECK_FOR_STACK_OVERFLOW is set to either 1 or 2 then this
\r
890 function will automatically get called if a task overflows its stack. */
\r
892 ( void ) pcTaskName;
\r
895 /*-----------------------------------------------------------*/
\r
897 void vApplicationMallocFailedHook( void )
\r
899 /* If configUSE_MALLOC_FAILED_HOOK is set to 1 then this function will
\r
900 be called automatically if a call to pvPortMalloc() fails. pvPortMalloc()
\r
901 is called automatically when a task, queue or semaphore is created. */
\r
904 /*-----------------------------------------------------------*/
\r
906 /* Just to keep the linker happy. */
\r
907 void __error__( char *pcFilename, unsigned long ulLine )
\r
909 ( void ) pcFilename;
\r
913 /*-----------------------------------------------------------*/
\r
915 /* Just to keep the linker happy. */
\r
916 int uipprintf( const char *fmt, ... )
\r
921 /*-----------------------------------------------------------*/
\r
923 void hard_fault_handler(unsigned int * hardfault_args)
\r
925 volatile unsigned int stacked_r0;
\r
926 volatile unsigned int stacked_r1;
\r
927 volatile unsigned int stacked_r2;
\r
928 volatile unsigned int stacked_r3;
\r
929 volatile unsigned int stacked_r12;
\r
930 volatile unsigned int stacked_lr;
\r
931 volatile unsigned int stacked_pc;
\r
932 volatile unsigned int stacked_psr;
\r
934 stacked_r0 = ((unsigned long) hardfault_args[0]);
\r
935 stacked_r1 = ((unsigned long) hardfault_args[1]);
\r
936 stacked_r2 = ((unsigned long) hardfault_args[2]);
\r
937 stacked_r3 = ((unsigned long) hardfault_args[3]);
\r
939 stacked_r12 = ((unsigned long) hardfault_args[4]);
\r
940 stacked_lr = ((unsigned long) hardfault_args[5]);
\r
941 stacked_pc = ((unsigned long) hardfault_args[6]);
\r
942 stacked_psr = ((unsigned long) hardfault_args[7]);
\r
944 /* Inspect stacked_pc to locate the offending instruction. */
\r
947 ( void ) stacked_psr;
\r
948 ( void ) stacked_pc;
\r
949 ( void ) stacked_lr;
\r
950 ( void ) stacked_r12;
\r
951 ( void ) stacked_r0;
\r
952 ( void ) stacked_r1;
\r
953 ( void ) stacked_r2;
\r
954 ( void ) stacked_r3;
\r
956 /*-----------------------------------------------------------*/
\r
958 void Fault_ISR( void ) __attribute__((naked));
\r
959 void Fault_ISR( void )
\r
965 " mrseq r0, msp \n"
\r
966 " mrsne r0, psp \n"
\r
967 " ldr r1, [r0, #24] \n"
\r
968 " ldr r2, handler_address_const \n"
\r
970 " handler_address_const: .word hard_fault_handler \n"
\r
973 /*-----------------------------------------------------------*/
\r
975 void MPU_Fault_ISR( void ) __attribute__((naked));
\r
976 void MPU_Fault_ISR( void )
\r
982 " mrseq r0, msp \n"
\r
983 " mrsne r0, psp \n"
\r
984 " ldr r1, [r0, #24] \n"
\r
985 " ldr r2, handler_address_const \n"
\r
987 " handler2_address_const: .word hard_fault_handler \n"
\r
990 /*-----------------------------------------------------------*/
projects / freertos / blob