2 FreeRTOS V7.5.3 - Copyright (C) 2013 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 ***************************************************************************
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9 * FreeRTOS provides completely free yet professionally developed, *
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10 * robust, strictly quality controlled, supported, and cross *
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11 * platform software that has become a de facto standard. *
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13 * Help yourself get started quickly and support the FreeRTOS *
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14 * project by purchasing a FreeRTOS tutorial book, reference *
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15 * manual, or both from: http://www.FreeRTOS.org/Documentation *
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19 ***************************************************************************
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21 This file is part of the FreeRTOS distribution.
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23 FreeRTOS is free software; you can redistribute it and/or modify it under
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24 the terms of the GNU General Public License (version 2) as published by the
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25 Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
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27 >>! NOTE: The modification to the GPL is included to allow you to distribute
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28 >>! a combined work that includes FreeRTOS without being obliged to provide
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29 >>! the source code for proprietary components outside of the FreeRTOS
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32 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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33 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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34 FOR A PARTICULAR PURPOSE. Full license text is available from the following
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35 link: http://www.freertos.org/a00114.html
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39 ***************************************************************************
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41 * Having a problem? Start by reading the FAQ "My application does *
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42 * not run, what could be wrong?" *
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44 * http://www.FreeRTOS.org/FAQHelp.html *
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46 ***************************************************************************
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48 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
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49 license and Real Time Engineers Ltd. contact details.
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51 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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52 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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53 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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55 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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56 Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS
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57 licenses offer ticketed support, indemnification and middleware.
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59 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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60 engineered and independently SIL3 certified version for use in safety and
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61 mission critical applications that require provable dependability.
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66 #error "The batch file Demo\CORTEX_LPC1768_GCC_RedSuite\CreateProjectDirectoryStructure.bat must be executed before the first build. After executing the batch file hit F5 to refrech the Eclipse project, then delete this line."
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70 * This file demonstrates the use of FreeRTOS-MPU. It creates tasks in both
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71 * User mode and Privileged mode, and using both the original xTaskCreate() and
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72 * the new xTaskCreateRestricted() API functions. The purpose of each created
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73 * task is documented in the comments above the task function prototype (in
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74 * this file), with the task behaviour demonstrated and documented within the
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75 * task function itself. In addition a queue is used to demonstrate passing
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76 * data between protected/restricted tasks as well as passing data between an
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77 * interrupt and a protected/restricted task.
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82 /* Library includes. */
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85 /* Scheduler includes. */
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86 #include "FreeRTOS.h"
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91 /* Red Suite includes. */
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92 #include "lcd_driver.h"
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96 /*-----------------------------------------------------------*/
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98 /* Misc constants. */
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99 #define mainDONT_BLOCK ( 0 )
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101 /* Definitions for the messages that can be sent to the check task. */
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102 #define mainREG_TEST_1_STILL_EXECUTING ( 0 )
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103 #define mainREG_TEST_2_STILL_EXECUTING ( 1 )
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104 #define mainPRINT_SYSTEM_STATUS ( 2 )
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106 /* GCC specifics. */
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107 #define mainALIGN_TO( x ) __attribute__((aligned(x)))
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109 /* Hardware specifics. The start and end address are chosen to ensure the
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110 required GPIO are covered while also ensuring the necessary alignment is
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112 #define mainGPIO_START_ADDRESS ( ( unsigned long * ) 0x2009c000 )
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113 #define mainGPIO_END_ADDRESS ( mainGPIO_START_ADDRESS + ( 64 * 1024 ) )
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116 /*-----------------------------------------------------------*/
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117 /* Prototypes for functions that implement tasks. -----------*/
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118 /*-----------------------------------------------------------*/
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121 * Prototype for the reg test tasks. Amongst other things, these fill the CPU
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122 * registers with known values before checking that the registers still contain
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123 * the expected values. Each of the two tasks use different values so an error
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124 * in the context switch mechanism can be caught. Both reg test tasks execute
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125 * at the idle priority so will get preempted regularly. Each task repeatedly
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126 * sends a message on a queue so long as it remains functioning correctly. If
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127 * an error is detected within the task the task is simply deleted.
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129 static void prvRegTest1Task( void *pvParameters );
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130 static void prvRegTest2Task( void *pvParameters );
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133 * Prototype for the check task. The check task demonstrates various features
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134 * of the MPU before entering a loop where it waits for messages to arrive on a
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137 * Two types of messages can be processes:
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139 * 1) "I'm Alive" messages sent from the reg test tasks, indicating that the
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140 * task is still operational.
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142 * 2) "Print Status commands" sent periodically by the tick hook function (and
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143 * therefore from within an interrupt) which command the check task to write
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144 * either pass or fail to the terminal, depending on the status of the reg
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147 static void prvCheckTask( void *pvParameters );
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150 * Prototype for a task created in User mode using the original vTaskCreate()
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151 * API function. The task demonstrates the characteristics of such a task,
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152 * before simply deleting itself.
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154 static void prvOldStyleUserModeTask( void *pvParameters );
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157 * Prototype for a task created in Privileged mode using the original
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158 * vTaskCreate() API function. The task demonstrates the characteristics of
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159 * such a task, before simply deleting itself.
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161 static void prvOldStylePrivilegedModeTask( void *pvParameters );
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164 /*-----------------------------------------------------------*/
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165 /* Prototypes for other misc functions. --------------------*/
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166 /*-----------------------------------------------------------*/
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169 * Just configures any clocks and IO necessary.
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171 static void prvSetupHardware( void );
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174 * Simply deletes the calling task. The function is provided only because it
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175 * is simpler to call from asm code than the normal vTaskDelete() API function.
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176 * It has the noinline attribute because it is called from asm code.
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178 static void prvDeleteMe( void ) __attribute__((noinline));
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181 * Used by both reg test tasks to send messages to the check task. The message
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182 * just lets the check task know that the task is still functioning correctly.
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183 * If a reg test task detects an error it will delete itself, and in so doing
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184 * prevent itself from sending any more 'I'm Alive' messages to the check task.
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186 static void prvSendImAlive( xQueueHandle xHandle, unsigned long ulTaskNumber );
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189 * The check task is created with access to three memory regions (plus its
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190 * stack). Each memory region is configured with different parameters and
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191 * prvTestMemoryRegions() demonstrates what can and cannot be accessed for each
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192 * region. prvTestMemoryRegions() also demonstrates a task that was created
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193 * as a privileged task settings its own privilege level down to that of a user
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196 static void prvTestMemoryRegions( void );
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198 /*-----------------------------------------------------------*/
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200 /* The handle of the queue used to communicate between tasks and between tasks
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201 and interrupts. Note that this is a file scope variable that falls outside of
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202 any MPU region. As such other techniques have to be used to allow the tasks
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203 to gain access to the queue. See the comments in the tasks themselves for
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204 further information. */
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205 static xQueueHandle xFileScopeCheckQueue = NULL;
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209 /*-----------------------------------------------------------*/
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210 /* Data used by the 'check' task. ---------------------------*/
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211 /*-----------------------------------------------------------*/
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213 /* Define the constants used to allocate the check task stack. Note that the
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214 stack size is defined in words, not bytes. */
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215 #define mainCHECK_TASK_STACK_SIZE_WORDS 128
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216 #define mainCHECK_TASK_STACK_ALIGNMENT ( mainCHECK_TASK_STACK_SIZE_WORDS * sizeof( portSTACK_TYPE ) )
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218 /* Declare the stack that will be used by the check task. The kernel will
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219 automatically create an MPU region for the stack. The stack alignment must
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220 match its size, so if 128 words are reserved for the stack then it must be
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221 aligned to ( 128 * 4 ) bytes. */
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222 static portSTACK_TYPE xCheckTaskStack[ mainCHECK_TASK_STACK_SIZE_WORDS ] mainALIGN_TO( mainCHECK_TASK_STACK_ALIGNMENT );
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224 /* Declare three arrays - an MPU region will be created for each array
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225 using the xTaskParameters structure below. THIS IS JUST TO DEMONSTRATE THE
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226 MPU FUNCTIONALITY, the data is not used by the check tasks primary function
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227 of monitoring the reg test tasks and printing out status information.
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229 Note that the arrays allocate slightly more RAM than is actually assigned to
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230 the MPU region. This is to permit writes off the end of the array to be
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231 detected even when the arrays are placed in adjacent memory locations (with no
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232 gaps between them). The align size must be a power of two. */
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233 #define mainREAD_WRITE_ARRAY_SIZE 130
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234 #define mainREAD_WRITE_ALIGN_SIZE 128
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235 char cReadWriteArray[ mainREAD_WRITE_ARRAY_SIZE ] mainALIGN_TO( mainREAD_WRITE_ALIGN_SIZE );
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237 #define mainREAD_ONLY_ARRAY_SIZE 260
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238 #define mainREAD_ONLY_ALIGN_SIZE 256
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239 char cReadOnlyArray[ mainREAD_ONLY_ARRAY_SIZE ] mainALIGN_TO( mainREAD_ONLY_ALIGN_SIZE );
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241 #define mainPRIVILEGED_ONLY_ACCESS_ARRAY_SIZE 130
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242 #define mainPRIVILEGED_ONLY_ACCESS_ALIGN_SIZE 128
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243 char cPrivilegedOnlyAccessArray[ mainPRIVILEGED_ONLY_ACCESS_ALIGN_SIZE ] mainALIGN_TO( mainPRIVILEGED_ONLY_ACCESS_ALIGN_SIZE );
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245 /* Fill in a xTaskParameters structure to define the check task - this is the
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246 structure passed to the xTaskCreateRestricted() function. */
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247 static const xTaskParameters xCheckTaskParameters =
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249 prvCheckTask, /* pvTaskCode - the function that implements the task. */
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250 ( signed char * ) "Check", /* pcName */
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251 mainCHECK_TASK_STACK_SIZE_WORDS, /* usStackDepth - defined in words, not bytes. */
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252 ( void * ) 0x12121212, /* pvParameters - this value is just to test that the parameter is being passed into the task correctly. */
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253 ( 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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254 xCheckTaskStack, /* puxStackBuffer - the array to use as the task stack, as declared above. */
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256 /* xRegions - In this case the xRegions array is used to create MPU regions
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257 for all three of the arrays declared directly above. Each MPU region is
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258 created with different parameters. Again, THIS IS JUST TO DEMONSTRATE THE
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259 MPU FUNCTIONALITY, the data is not used by the check tasks primary function
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260 of monitoring the reg test tasks and printing out status information.*/
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262 /* Base address Length Parameters */
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263 { cReadWriteArray, mainREAD_WRITE_ALIGN_SIZE, portMPU_REGION_READ_WRITE },
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264 { cReadOnlyArray, mainREAD_ONLY_ALIGN_SIZE, portMPU_REGION_READ_ONLY },
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265 { cPrivilegedOnlyAccessArray, mainPRIVILEGED_ONLY_ACCESS_ALIGN_SIZE, portMPU_REGION_PRIVILEGED_READ_WRITE }
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269 /* Three MPU regions are defined for use by the 'check' task when the task is
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270 created. These are only used to demonstrate the MPU features and are not
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271 actually necessary for the check task to fulfill its primary purpose. Instead
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272 the MPU regions are replaced with those defined by xAltRegions prior to the
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273 check task receiving any data on the queue or printing any messages to the
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274 debug console. The MPU region defined below covers the GPIO peripherals used
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275 to write to the LCD. */
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276 static const xMemoryRegion xAltRegions[ portNUM_CONFIGURABLE_REGIONS ] =
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278 /* Base address Length Parameters */
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279 { mainGPIO_START_ADDRESS, ( 64 * 1024 ), portMPU_REGION_READ_WRITE },
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286 /*-----------------------------------------------------------*/
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287 /* Data used by the 'reg test' tasks. -----------------------*/
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288 /*-----------------------------------------------------------*/
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290 /* Define the constants used to allocate the reg test task stacks. Note that
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291 that stack size is defined in words, not bytes. */
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292 #define mainREG_TEST_STACK_SIZE_WORDS 128
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293 #define mainREG_TEST_STACK_ALIGNMENT ( mainREG_TEST_STACK_SIZE_WORDS * sizeof( portSTACK_TYPE ) )
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295 /* Declare the stacks that will be used by the reg test tasks. The kernel will
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296 automatically create an MPU region for the stack. The stack alignment must
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297 match its size, so if 128 words are reserved for the stack then it must be
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298 aligned to ( 128 * 4 ) bytes. */
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299 static portSTACK_TYPE xRegTest1Stack[ mainREG_TEST_STACK_SIZE_WORDS ] mainALIGN_TO( mainREG_TEST_STACK_ALIGNMENT );
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300 static portSTACK_TYPE xRegTest2Stack[ mainREG_TEST_STACK_SIZE_WORDS ] mainALIGN_TO( mainREG_TEST_STACK_ALIGNMENT );
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302 /* Fill in a xTaskParameters structure per reg test task to define the tasks. */
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303 static const xTaskParameters xRegTest1Parameters =
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305 prvRegTest1Task, /* pvTaskCode - the function that implements the task. */
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306 ( signed char * ) "RegTest1", /* pcName */
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307 mainREG_TEST_STACK_SIZE_WORDS, /* usStackDepth */
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308 ( void * ) 0x12345678, /* pvParameters - this value is just to test that the parameter is being passed into the task correctly. */
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309 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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310 xRegTest1Stack, /* puxStackBuffer - the array to use as the task stack, as declared above. */
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311 { /* xRegions - this task does not use any non-stack data hence all members are zero. */
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312 /* Base address Length Parameters */
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313 { 0x00, 0x00, 0x00 },
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314 { 0x00, 0x00, 0x00 },
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315 { 0x00, 0x00, 0x00 }
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318 /*-----------------------------------------------------------*/
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320 static xTaskParameters xRegTest2Parameters =
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322 prvRegTest2Task, /* pvTaskCode - the function that implements the task. */
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323 ( signed char * ) "RegTest2", /* pcName */
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324 mainREG_TEST_STACK_SIZE_WORDS, /* usStackDepth */
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325 ( 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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326 tskIDLE_PRIORITY, /* uxPriority */
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327 xRegTest2Stack, /* puxStackBuffer - the array to use as the task stack, as declared above. */
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328 { /* xRegions - this task does not use any non-stack data hence all members are zero. */
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329 /* Base address Length Parameters */
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330 { 0x00, 0x00, 0x00 },
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331 { 0x00, 0x00, 0x00 },
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332 { 0x00, 0x00, 0x00 }
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336 /*-----------------------------------------------------------*/
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340 prvSetupHardware();
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342 /* Create the queue used to pass "I'm alive" messages to the check task. */
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343 xFileScopeCheckQueue = xQueueCreate( 1, sizeof( unsigned long ) );
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345 /* One check task uses the task parameter to receive the queue handle.
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346 This allows the file scope variable to be accessed from within the task.
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347 The pvParameters member of xRegTest2Parameters can only be set after the
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348 queue has been created so is set here. */
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349 xRegTest2Parameters.pvParameters = xFileScopeCheckQueue;
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351 /* Create the three test tasks. Handles to the created tasks are not
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352 required, hence the second parameter is NULL. */
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353 xTaskCreateRestricted( &xRegTest1Parameters, NULL );
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354 xTaskCreateRestricted( &xRegTest2Parameters, NULL );
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355 xTaskCreateRestricted( &xCheckTaskParameters, NULL );
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357 /* Create the tasks that are created using the original xTaskCreate() API
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359 xTaskCreate( prvOldStyleUserModeTask, /* The function that implements the task. */
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360 ( signed char * ) "Task1", /* Text name for the task. */
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361 100, /* Stack depth in words. */
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362 NULL, /* Task parameters. */
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363 3, /* Priority and mode (user in this case). */
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367 xTaskCreate( prvOldStylePrivilegedModeTask, /* The function that implements the task. */
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368 ( signed char * ) "Task2", /* Text name for the task. */
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369 100, /* Stack depth in words. */
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370 NULL, /* Task parameters. */
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371 ( 3 | portPRIVILEGE_BIT ), /* Priority and mode. */
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375 /* Start the scheduler. */
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376 vTaskStartScheduler();
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378 /* Will only get here if there was insufficient memory to create the idle
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383 /*-----------------------------------------------------------*/
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385 static void prvCheckTask( void *pvParameters )
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387 /* This task is created in privileged mode so can access the file scope
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388 queue variable. Take a stack copy of this before the task is set into user
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389 mode. Once that task is in user mode the file scope queue variable will no
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390 longer be accessible but the stack copy will. */
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391 xQueueHandle xQueue = xFileScopeCheckQueue;
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393 unsigned long ulStillAliveCounts[ 2 ] = { 0 };
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394 char *pcStatusMessage = "PASS\r\n";
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395 unsigned char x = 5, y = 10;
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397 /* Just to remove compiler warning. */
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398 ( void ) pvParameters;
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400 /* Demonstrate how the various memory regions can and can't be accessed.
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401 The task privilege is set down to user mode within this function. */
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402 prvTestMemoryRegions();
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404 /* Change the memory regions allocated to this task to those initially
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405 set up for demonstration purposes to those actually required by the task. */
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406 vTaskAllocateMPURegions( NULL, xAltRegions );
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408 /* This loop performs the main function of the task, which is blocking
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409 on a message queue then processing each message as it arrives. */
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412 /* Wait for the next message to arrive. */
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413 xQueueReceive( xQueue, &lMessage, portMAX_DELAY );
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417 case mainREG_TEST_1_STILL_EXECUTING :
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418 /* Message from task 1, so task 1 must still be executing. */
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419 ( ulStillAliveCounts[ 0 ] )++;
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422 case mainREG_TEST_2_STILL_EXECUTING :
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423 /* Message from task 2, so task 2 must still be executing. */
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424 ( ulStillAliveCounts[ 1 ] )++;
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427 case mainPRINT_SYSTEM_STATUS :
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428 /* Message from tick hook, time to print out the system
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429 status. If messages has stopped arriving from either reg
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430 test task then the status must be set to fail. */
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431 if( ( ulStillAliveCounts[ 0 ] == 0 ) || ( ulStillAliveCounts[ 1 ] == 0 ) )
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433 /* One or both of the test tasks are no longer sending
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434 'still alive' messages. */
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435 pcStatusMessage = "FAIL\r\n";
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438 /* Print a pass/fail message to the LCD - moving the
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439 message each time to provide feedback that the output
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440 is still being produced. LCD_PrintString() accesses const
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441 data stored in flash, which all tasks are at liberty to do,
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442 and GPIO for which an MPU region has been set up for it. */
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444 LCD_PrintString( x>>1, y>>1, pcStatusMessage, 6, COLOR_RED );
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448 /* Reset the count of 'still alive' messages. */
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449 memset( ulStillAliveCounts, 0x00, sizeof( ulStillAliveCounts ) );
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453 /* Something unexpected happened. Delete this task so the
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454 error is apparent (no output will be displayed). */
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460 /*-----------------------------------------------------------*/
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462 static void prvTestMemoryRegions( void )
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467 /* The check task (from which this function is called) is created in the
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468 Privileged mode. The privileged array can be both read from and written
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469 to while this task is privileged. */
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470 cPrivilegedOnlyAccessArray[ 0 ] = 'a';
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471 if( cPrivilegedOnlyAccessArray[ 0 ] != 'a' )
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473 /* Something unexpected happened. Delete this task so the error is
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474 apparent (no output will be displayed). */
\r
478 /* Writing off the end of the RAM allocated to this task will *NOT* cause a
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479 protection fault because the task is still executing in a privileged mode.
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480 Uncomment the following to test. */
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481 /* cPrivilegedOnlyAccessArray[ mainPRIVILEGED_ONLY_ACCESS_ALIGN_SIZE ] = 'a'; */
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483 /* Now set the task into user mode. */
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484 portSWITCH_TO_USER_MODE();
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486 /* Accessing the privileged only array will now cause a fault. Uncomment
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487 the following line to test. */
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488 /* cPrivilegedOnlyAccessArray[ 0 ] = 'a'; */
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490 /* The read/write array can still be successfully read and written. */
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491 for( l = 0; l < mainREAD_WRITE_ALIGN_SIZE; l++ )
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493 cReadWriteArray[ l ] = 'a';
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494 if( cReadWriteArray[ l ] != 'a' )
\r
496 /* Something unexpected happened. Delete this task so the error is
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497 apparent (no output will be displayed). */
\r
502 /* But attempting to read or write off the end of the RAM allocated to this
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503 task will cause a fault. Uncomment either of the following two lines to
\r
505 /* cReadWriteArray[ 0 ] = cReadWriteArray[ -1 ]; */
\r
506 /* cReadWriteArray[ mainREAD_WRITE_ALIGN_SIZE ] = 0x00; */
\r
508 /* The read only array can be successfully read... */
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509 for( l = 0; l < mainREAD_ONLY_ALIGN_SIZE; l++ )
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511 cTemp = cReadOnlyArray[ l ];
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514 /* ...but cannot be written. Uncomment the following line to test. */
\r
515 /* cReadOnlyArray[ 0 ] = 'a'; */
\r
517 /* Writing to the first and last locations in the stack array should not
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518 cause a protection fault. Note that doing this will cause the kernel to
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519 detect a stack overflow if configCHECK_FOR_STACK_OVERFLOW is greater than
\r
521 xCheckTaskStack[ 0 ] = 0;
\r
522 xCheckTaskStack[ mainCHECK_TASK_STACK_SIZE_WORDS - 1 ] = 0;
\r
524 /* Writing off either end of the stack array should cause a protection
\r
525 fault, uncomment either of the following two lines to test. */
\r
526 /* xCheckTaskStack[ -1 ] = 0; */
\r
527 /* xCheckTaskStack[ mainCHECK_TASK_STACK_SIZE_WORDS ] = 0; */
\r
529 /*-----------------------------------------------------------*/
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531 static void prvRegTest1Task( void *pvParameters )
\r
533 /* This task is created in privileged mode so can access the file scope
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534 queue variable. Take a stack copy of this before the task is set into user
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535 mode. Once this task is in user mode the file scope queue variable will no
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536 longer be accessible but the stack copy will. */
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537 xQueueHandle xQueue = xFileScopeCheckQueue;
\r
539 /* Now the queue handle has been obtained the task can switch to user
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540 mode. This is just one method of passing a handle into a protected
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541 task, the other reg test task uses the task parameter instead. */
\r
542 portSWITCH_TO_USER_MODE();
\r
544 /* First check that the parameter value is as expected. */
\r
545 if( pvParameters != ( void * ) 0x12345678 )
\r
547 /* Error detected. Delete the task so it stops communicating with
\r
555 /* This task tests the kernel context switch mechanism by reading and
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556 writing directly to registers - which requires the test to be written
\r
557 in assembly code. */
\r
560 " MOV R4, #104 \n" /* Set registers to a known value. R0 to R1 are done in the loop below. */
\r
565 " MOV R10, #110 \n"
\r
566 " MOV R11, #111 \n"
\r
568 " MOV R0, #100 \n" /* Set the scratch registers to known values - done inside the loop as they get clobbered. */
\r
572 " MOV R12, #112 \n"
\r
573 " SVC #1 \n" /* Yield just to increase test coverage. */
\r
574 " CMP R0, #100 \n" /* Check all the registers still contain their expected values. */
\r
575 " BNE prvDeleteMe \n" /* Value was not as expected, delete the task so it stops communicating with the check task. */
\r
577 " BNE prvDeleteMe \n"
\r
579 " BNE prvDeleteMe \n"
\r
581 " BNE prvDeleteMe \n"
\r
582 " CMP R4, #104 \n"
\r
583 " BNE prvDeleteMe \n"
\r
585 " BNE prvDeleteMe \n"
\r
587 " BNE prvDeleteMe \n"
\r
589 " BNE prvDeleteMe \n"
\r
591 " BNE prvDeleteMe \n"
\r
592 " CMP R10, #110 \n"
\r
593 " BNE prvDeleteMe \n"
\r
594 " CMP R11, #111 \n"
\r
595 " BNE prvDeleteMe \n"
\r
596 " CMP R12, #112 \n"
\r
597 " BNE prvDeleteMe \n"
\r
598 :::"r0", "r1", "r2", "r3", "r4", "r5", "r6", "r8", "r9", "r10", "r11", "r12"
\r
601 /* Send mainREG_TEST_1_STILL_EXECUTING to the check task to indicate that this
\r
602 task is still functioning. */
\r
603 prvSendImAlive( xQueue, mainREG_TEST_1_STILL_EXECUTING );
\r
605 /* Go back to check all the register values again. */
\r
606 __asm volatile( " B reg1loop " );
\r
609 /*-----------------------------------------------------------*/
\r
611 static void prvRegTest2Task( void *pvParameters )
\r
613 /* The queue handle is passed in as the task parameter. This is one method of
\r
614 passing data into a protected task, the other reg test task uses a different
\r
616 xQueueHandle xQueue = ( xQueueHandle ) pvParameters;
\r
620 /* This task tests the kernel context switch mechanism by reading and
\r
621 writing directly to registers - which requires the test to be written
\r
622 in assembly code. */
\r
625 " MOV R4, #4 \n" /* Set registers to a known value. R0 to R1 are done in the loop below. */
\r
628 " MOV R8, #8 \n" /* Frame pointer is omitted as it must not be changed. */
\r
631 " MOV R11, #11 \n"
\r
633 " MOV R0, #13 \n" /* Set the scratch registers to known values - done inside the loop as they get clobbered. */
\r
638 " CMP R0, #13 \n" /* Check all the registers still contain their expected values. */
\r
639 " BNE prvDeleteMe \n" /* Value was not as expected, delete the task so it stops communicating with the check task */
\r
641 " BNE prvDeleteMe \n"
\r
643 " BNE prvDeleteMe \n"
\r
645 " BNE prvDeleteMe \n"
\r
647 " BNE prvDeleteMe \n"
\r
649 " BNE prvDeleteMe \n"
\r
651 " BNE prvDeleteMe \n"
\r
653 " BNE prvDeleteMe \n"
\r
655 " BNE prvDeleteMe \n"
\r
657 " BNE prvDeleteMe \n"
\r
659 " BNE prvDeleteMe \n"
\r
661 " BNE prvDeleteMe \n"
\r
662 :::"r0", "r1", "r2", "r3", "r4", "r5", "r6", "r8", "r9", "r10", "r11", "r12"
\r
665 /* Send mainREG_TEST_2_STILL_EXECUTING to the check task to indicate that this
\r
666 task is still functioning. */
\r
667 prvSendImAlive( xQueue, mainREG_TEST_2_STILL_EXECUTING );
\r
669 /* Go back to check all the register values again. */
\r
670 __asm volatile( " B reg2loop " );
\r
673 /*-----------------------------------------------------------*/
\r
675 void vApplicationIdleHook( void )
\r
677 extern unsigned long __SRAM_segment_end__[];
\r
678 extern unsigned long __privileged_data_start__[];
\r
679 extern unsigned long __privileged_data_end__[];
\r
680 extern unsigned long __FLASH_segment_start__[];
\r
681 extern unsigned long __FLASH_segment_end__[];
\r
682 volatile unsigned long *pul;
\r
683 volatile unsigned long ulReadData;
\r
685 /* The idle task, and therefore this function, run in Supervisor mode and
\r
686 can therefore access all memory. Try reading from corners of flash and
\r
687 RAM to ensure a memory fault does not occur.
\r
689 Start with the edges of the privileged data area. */
\r
690 pul = __privileged_data_start__;
\r
692 pul = __privileged_data_end__ - 1;
\r
695 /* Next the standard SRAM area. */
\r
696 pul = __SRAM_segment_end__ - 1;
\r
699 /* And the standard Flash area - the start of which is marked for
\r
700 privileged access only. */
\r
701 pul = __FLASH_segment_start__;
\r
703 pul = __FLASH_segment_end__ - 1;
\r
706 /* Reading off the end of Flash or SRAM space should cause a fault.
\r
707 Uncomment one of the following two pairs of lines to test. */
\r
709 /* pul = __FLASH_segment_end__ + 4;
\r
710 ulReadData = *pul; */
\r
712 /* pul = __SRAM_segment_end__ + 1;
\r
713 ulReadData = *pul; */
\r
715 /*-----------------------------------------------------------*/
\r
717 static void prvOldStyleUserModeTask( void *pvParameters )
\r
719 extern unsigned long __privileged_data_start__[];
\r
720 extern unsigned long __privileged_data_end__[];
\r
721 extern unsigned long __SRAM_segment_end__[];
\r
722 extern unsigned long __privileged_functions_end__[];
\r
723 extern unsigned long __FLASH_segment_start__[];
\r
724 extern unsigned long __FLASH_segment_end__[];
\r
725 const volatile unsigned long *pulStandardPeripheralRegister = ( volatile unsigned long * ) 0x400FC0C4; /* PCONP */
\r
726 volatile unsigned long *pul;
\r
727 volatile unsigned long ulReadData;
\r
729 /* The following lines are commented out to prevent the unused variable
\r
730 compiler warnings when the tests that use the variable are also commented out.
\r
731 extern unsigned long __privileged_functions_start__[];
\r
732 const volatile unsigned long *pulSystemPeripheralRegister = ( volatile unsigned long * ) 0xe000e014; */
\r
734 ( void ) pvParameters;
\r
736 /* This task is created in User mode using the original xTaskCreate() API
\r
737 function. It should have access to all Flash and RAM except that marked
\r
738 as Privileged access only. Reading from the start and end of the non-
\r
739 privileged RAM should not cause a problem (the privileged RAM is the first
\r
740 block at the bottom of the RAM memory). */
\r
741 pul = __privileged_data_end__ + 1;
\r
743 pul = __SRAM_segment_end__ - 1;
\r
746 /* Likewise reading from the start and end of the non-privileged Flash
\r
747 should not be a problem (the privileged Flash is the first block at the
\r
748 bottom of the Flash memory). */
\r
749 pul = __privileged_functions_end__ + 1;
\r
751 pul = __FLASH_segment_end__ - 1;
\r
754 /* Standard peripherals are accessible. */
\r
755 ulReadData = *pulStandardPeripheralRegister;
\r
757 /* System peripherals are not accessible. Uncomment the following line
\r
758 to test. Also uncomment the declaration of pulSystemPeripheralRegister
\r
759 at the top of this function. */
\r
760 /* ulReadData = *pulSystemPeripheralRegister; */
\r
762 /* Reading from anywhere inside the privileged Flash or RAM should cause a
\r
763 fault. This can be tested by uncommenting any of the following pairs of
\r
764 lines. Also uncomment the declaration of __privileged_functions_start__
\r
765 at the top of this function. */
\r
767 /* pul = __privileged_functions_start__;
\r
768 ulReadData = *pul; */
\r
770 /* pul = __privileged_functions_end__ - 1;
\r
771 ulReadData = *pul; */
\r
773 /* pul = __privileged_data_start__;
\r
774 ulReadData = *pul; */
\r
776 /* pul = __privileged_data_end__ - 1;
\r
777 ulReadData = *pul; */
\r
779 /* Must not just run off the end of a task function, so delete this task.
\r
780 Note that because this task was created using xTaskCreate() the stack was
\r
781 allocated dynamically and I have not included any code to free it again. */
\r
782 vTaskDelete( NULL );
\r
784 /*-----------------------------------------------------------*/
\r
786 static void prvOldStylePrivilegedModeTask( void *pvParameters )
\r
788 extern unsigned long __privileged_data_start__[];
\r
789 extern unsigned long __privileged_data_end__[];
\r
790 extern unsigned long __SRAM_segment_end__[];
\r
791 extern unsigned long __privileged_functions_start__[];
\r
792 extern unsigned long __privileged_functions_end__[];
\r
793 extern unsigned long __FLASH_segment_start__[];
\r
794 extern unsigned long __FLASH_segment_end__[];
\r
795 volatile unsigned long *pul;
\r
796 volatile unsigned long ulReadData;
\r
797 const volatile unsigned long *pulSystemPeripheralRegister = ( volatile unsigned long * ) 0xe000e014; /* Systick */
\r
798 const volatile unsigned long *pulStandardPeripheralRegister = ( volatile unsigned long * ) 0x400FC0C4; /* PCONP */
\r
800 ( void ) pvParameters;
\r
802 /* This task is created in Privileged mode using the original xTaskCreate()
\r
803 API function. It should have access to all Flash and RAM including that
\r
804 marked as Privileged access only. So reading from the start and end of the
\r
805 non-privileged RAM should not cause a problem (the privileged RAM is the
\r
806 first block at the bottom of the RAM memory). */
\r
807 pul = __privileged_data_end__ + 1;
\r
809 pul = __SRAM_segment_end__ - 1;
\r
812 /* Likewise reading from the start and end of the non-privileged Flash
\r
813 should not be a problem (the privileged Flash is the first block at the
\r
814 bottom of the Flash memory). */
\r
815 pul = __privileged_functions_end__ + 1;
\r
817 pul = __FLASH_segment_end__ - 1;
\r
820 /* Reading from anywhere inside the privileged Flash or RAM should also
\r
821 not be a problem. */
\r
822 pul = __privileged_functions_start__;
\r
824 pul = __privileged_functions_end__ - 1;
\r
826 pul = __privileged_data_start__;
\r
827 ulReadData = *pul;
\r
828 pul = __privileged_data_end__ - 1;
\r
831 /* Finally, accessing both System and normal peripherals should both be
\r
833 ulReadData = *pulSystemPeripheralRegister;
\r
834 ulReadData = *pulStandardPeripheralRegister;
\r
836 /* Must not just run off the end of a task function, so delete this task.
\r
837 Note that because this task was created using xTaskCreate() the stack was
\r
838 allocated dynamically and I have not included any code to free it again. */
\r
839 vTaskDelete( NULL );
\r
841 /*-----------------------------------------------------------*/
\r
843 static void prvDeleteMe( void )
\r
845 vTaskDelete( NULL );
\r
847 /*-----------------------------------------------------------*/
\r
849 static void prvSendImAlive( xQueueHandle xHandle, unsigned long ulTaskNumber )
\r
851 if( xHandle != NULL )
\r
853 xQueueSend( xHandle, &ulTaskNumber, mainDONT_BLOCK );
\r
856 /*-----------------------------------------------------------*/
\r
858 void prvSetupHardware( void )
\r
860 /* Disable peripherals power. */
\r
863 /* Enable GPIO power. */
\r
864 SC->PCONP = PCONP_PCGPIO;
\r
866 /* Disable TPIU. */
\r
867 PINCON->PINSEL10 = 0;
\r
869 if ( SC->PLL0STAT & ( 1 << 25 ) )
\r
871 /* Enable PLL, disconnected. */
\r
873 SC->PLL0FEED = PLLFEED_FEED1;
\r
874 SC->PLL0FEED = PLLFEED_FEED2;
\r
877 /* Disable PLL, disconnected. */
\r
879 SC->PLL0FEED = PLLFEED_FEED1;
\r
880 SC->PLL0FEED = PLLFEED_FEED2;
\r
882 /* Enable main OSC. */
\r
884 while( !( SC->SCS & 0x40 ) );
\r
886 /* select main OSC, 12MHz, as the PLL clock source. */
\r
887 SC->CLKSRCSEL = 0x1;
\r
889 SC->PLL0CFG = 0x20031;
\r
890 SC->PLL0FEED = PLLFEED_FEED1;
\r
891 SC->PLL0FEED = PLLFEED_FEED2;
\r
893 /* Enable PLL, disconnected. */
\r
895 SC->PLL0FEED = PLLFEED_FEED1;
\r
896 SC->PLL0FEED = PLLFEED_FEED2;
\r
898 /* Set clock divider. */
\r
899 SC->CCLKCFG = 0x03;
\r
901 /* Configure flash accelerator. */
\r
902 SC->FLASHCFG = 0x403a;
\r
904 /* Check lock bit status. */
\r
905 while( ( ( SC->PLL0STAT & ( 1 << 26 ) ) == 0 ) );
\r
907 /* Enable and connect. */
\r
909 SC->PLL0FEED = PLLFEED_FEED1;
\r
910 SC->PLL0FEED = PLLFEED_FEED2;
\r
911 while( ( ( SC->PLL0STAT & ( 1 << 25 ) ) == 0 ) );
\r
916 /* Configure the clock for the USB. */
\r
918 if( SC->PLL1STAT & ( 1 << 9 ) )
\r
920 /* Enable PLL, disconnected. */
\r
922 SC->PLL1FEED = PLLFEED_FEED1;
\r
923 SC->PLL1FEED = PLLFEED_FEED2;
\r
926 /* Disable PLL, disconnected. */
\r
928 SC->PLL1FEED = PLLFEED_FEED1;
\r
929 SC->PLL1FEED = PLLFEED_FEED2;
\r
931 SC->PLL1CFG = 0x23;
\r
932 SC->PLL1FEED = PLLFEED_FEED1;
\r
933 SC->PLL1FEED = PLLFEED_FEED2;
\r
935 /* Enable PLL, disconnected. */
\r
937 SC->PLL1FEED = PLLFEED_FEED1;
\r
938 SC->PLL1FEED = PLLFEED_FEED2;
\r
939 while( ( ( SC->PLL1STAT & ( 1 << 10 ) ) == 0 ) );
\r
941 /* Enable and connect. */
\r
943 SC->PLL1FEED = PLLFEED_FEED1;
\r
944 SC->PLL1FEED = PLLFEED_FEED2;
\r
945 while( ( ( SC->PLL1STAT & ( 1 << 9 ) ) == 0 ) );
\r
947 /* Setup the peripheral bus to be the same as the PLL output (64 MHz). */
\r
948 SC->PCLKSEL0 = 0x05555555;
\r
950 /* Prepare the LCD. */
\r
951 LCDdriver_initialisation();
\r
952 LCD_PrintString( 5, 10, "FreeRTOS.org", 14, COLOR_GREEN);
\r
954 /*-----------------------------------------------------------*/
\r
956 void vApplicationTickHook( void )
\r
958 static unsigned long ulCallCount;
\r
959 const unsigned long ulCallsBetweenSends = 5000 / portTICK_RATE_MS;
\r
960 const unsigned long ulMessage = mainPRINT_SYSTEM_STATUS;
\r
961 portBASE_TYPE xDummy;
\r
963 /* If configUSE_TICK_HOOK is set to 1 then this function will get called
\r
964 from each RTOS tick. It is called from the tick interrupt and therefore
\r
965 will be executing in the privileged state. */
\r
969 /* Is it time to print out the pass/fail message again? */
\r
970 if( ulCallCount >= ulCallsBetweenSends )
\r
974 /* Send a message to the check task to command it to check that all
\r
975 the tasks are still running then print out the status.
\r
977 This is running in an ISR so has to use the "FromISR" version of
\r
978 xQueueSend(). Because it is in an ISR it is running with privileges
\r
979 so can access xFileScopeCheckQueue directly. */
\r
980 xQueueSendFromISR( xFileScopeCheckQueue, &ulMessage, &xDummy );
\r
983 /*-----------------------------------------------------------*/
\r
985 void vApplicationStackOverflowHook( xTaskHandle pxTask, signed char *pcTaskName )
\r
987 /* If configCHECK_FOR_STACK_OVERFLOW is set to either 1 or 2 then this
\r
988 function will automatically get called if a task overflows its stack. */
\r
990 ( void ) pcTaskName;
\r
993 /*-----------------------------------------------------------*/
\r
995 void vApplicationMallocFailedHook( void )
\r
997 /* If configUSE_MALLOC_FAILED_HOOK is set to 1 then this function will
\r
998 be called automatically if a call to pvPortMalloc() fails. pvPortMalloc()
\r
999 is called automatically when a task, queue or semaphore is created. */
\r
1002 /*-----------------------------------------------------------*/
\r
projects / freertos / blob