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.
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79 * In addition a queue is used to demonstrate passing data between
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80 * protected/restricted tasks as well as passing data between an interrupt and
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81 * a protected/restricted task, and a software timer is used.
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84 /* Standard includes. */
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87 /* Scheduler includes. */
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88 #include "FreeRTOS.h"
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94 /*-----------------------------------------------------------*/
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96 /* Misc constants. */
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97 #define mainDONT_BLOCK ( 0 )
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99 /* Definitions for the messages that can be sent to the check task. */
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100 #define mainREG_TEST_1_STILL_EXECUTING ( 0 )
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101 #define mainREG_TEST_2_STILL_EXECUTING ( 1 )
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102 #define mainPRINT_SYSTEM_STATUS ( 2 )
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104 /* GCC specifics. */
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105 #define mainALIGN_TO( x ) __attribute__((aligned(x)))
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107 /* Hardware register addresses. */
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108 #define mainVTOR ( * ( volatile uint32_t * ) 0xE000ED08 )
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109 #define mainNVIC_AUX_ACTLR ( * ( volatile uint32_t * ) 0xE000E008 )
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110 #define mainEC_INTERRUPT_CONTROL ( * ( volatile uint32_t * ) 0x4000FC18 )
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112 /* The period of the timer must be less than the rate at which
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113 mainPRINT_SYSTEM_STATUS messages are sent to the check task - otherwise the
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114 check task will think the timer has stopped. */
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115 #define mainTIMER_PERIOD pdMS_TO_TICKS( 200 )
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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 * A task that is deleted by the Idle task. This is just done for code
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165 * coverage test purposes.
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167 static void prvTaskToDelete( void *pvParameters );
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169 /*-----------------------------------------------------------*/
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170 /* Prototypes for other misc functions. --------------------*/
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171 /*-----------------------------------------------------------*/
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174 * Just configures any clocks and IO necessary.
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176 static void prvSetupHardware( void );
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179 * Simply deletes the calling task. The function is provided only because it
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180 * is simpler to call from asm code than the normal vTaskDelete() API function.
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181 * It has the noinline attribute because it is called from asm code.
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183 static void prvDeleteMe( void ) __attribute__((noinline));
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186 * Used by both reg test tasks to send messages to the check task. The message
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187 * just lets the check task know that the task is still functioning correctly.
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188 * If a reg test task detects an error it will delete itself, and in so doing
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189 * prevent itself from sending any more 'I'm Alive' messages to the check task.
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191 static void prvSendImAlive( QueueHandle_t xHandle, uint32_t ulTaskNumber );
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194 * The check task is created with access to three memory regions (plus its
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195 * stack). Each memory region is configured with different parameters and
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196 * prvTestMemoryRegions() demonstrates what can and cannot be accessed for each
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197 * region. prvTestMemoryRegions() also demonstrates a task that was created
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198 * as a privileged task settings its own privilege level down to that of a user
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201 static void prvTestMemoryRegions( void );
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204 * Callback function used with the timer that uses the queue to send messages
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205 * to the check task.
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207 static void prvTimerCallback( TimerHandle_t xExpiredTimer );
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209 /*-----------------------------------------------------------*/
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211 /* The handle of the queue used to communicate between tasks and between tasks
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212 and interrupts. Note that this is a file scope variable that falls outside of
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213 any MPU region. As such other techniques have to be used to allow the tasks
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214 to gain access to the queue. See the comments in the tasks themselves for
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215 further information. */
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216 static QueueHandle_t xFileScopeCheckQueue = NULL;
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218 /* Holds the handle of a task that is deleted in the idle task hook - this is
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219 done for code coverage test purposes only. */
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220 static TaskHandle_t xTaskToDelete = NULL;
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222 /* The timer that periodically sends data to the check task on the queue. */
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223 static TimerHandle_t xTimer = NULL;
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225 /*-----------------------------------------------------------*/
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226 /* Data used by the 'check' task. ---------------------------*/
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227 /*-----------------------------------------------------------*/
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229 /* Define the constants used to allocate the check task stack. Note that the
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230 stack size is defined in words, not bytes. */
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231 #define mainCHECK_TASK_STACK_SIZE_WORDS 128
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232 #define mainCHECK_TASK_STACK_ALIGNMENT ( mainCHECK_TASK_STACK_SIZE_WORDS * sizeof( portSTACK_TYPE ) )
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234 /* Declare the stack that will be used by the check task. The kernel will
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235 automatically create an MPU region for the stack. The stack alignment must
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236 match its size, so if 128 words are reserved for the stack then it must be
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237 aligned to ( 128 * 4 ) bytes. */
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238 static portSTACK_TYPE xCheckTaskStack[ mainCHECK_TASK_STACK_SIZE_WORDS ] mainALIGN_TO( mainCHECK_TASK_STACK_ALIGNMENT );
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240 /* Declare three arrays - an MPU region will be created for each array
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241 using the TaskParameters_t structure below. THIS IS JUST TO DEMONSTRATE THE
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242 MPU FUNCTIONALITY, the data is not used by the check tasks primary function
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243 of monitoring the reg test tasks and printing out status information.
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245 Note that the arrays allocate slightly more RAM than is actually assigned to
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246 the MPU region. This is to permit writes off the end of the array to be
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247 detected even when the arrays are placed in adjacent memory locations (with no
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248 gaps between them). The align size must be a power of two. */
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249 #define mainREAD_WRITE_ARRAY_SIZE 130
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250 #define mainREAD_WRITE_ALIGN_SIZE 128
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251 char cReadWriteArray[ mainREAD_WRITE_ARRAY_SIZE ] mainALIGN_TO( mainREAD_WRITE_ALIGN_SIZE );
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253 #define mainREAD_ONLY_ARRAY_SIZE 260
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254 #define mainREAD_ONLY_ALIGN_SIZE 256
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255 char cReadOnlyArray[ mainREAD_ONLY_ARRAY_SIZE ] mainALIGN_TO( mainREAD_ONLY_ALIGN_SIZE );
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257 #define mainPRIVILEGED_ONLY_ACCESS_ARRAY_SIZE 130
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258 #define mainPRIVILEGED_ONLY_ACCESS_ALIGN_SIZE 128
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259 char cPrivilegedOnlyAccessArray[ mainPRIVILEGED_ONLY_ACCESS_ALIGN_SIZE ] mainALIGN_TO( mainPRIVILEGED_ONLY_ACCESS_ALIGN_SIZE );
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261 /* Fill in a TaskParameters_t structure to define the check task - this is the
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262 structure passed to the xTaskCreateRestricted() function. */
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263 static const TaskParameters_t xCheckTaskParameters =
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265 prvCheckTask, /* pvTaskCode - the function that implements the task. */
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266 "Check", /* pcName */
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267 mainCHECK_TASK_STACK_SIZE_WORDS, /* usStackDepth - defined in words, not bytes. */
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268 ( void * ) 0x12121212, /* pvParameters - this value is just to test that the parameter is being passed into the task correctly. */
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269 ( 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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270 xCheckTaskStack, /* puxStackBuffer - the array to use as the task stack, as declared above. */
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272 /* xRegions - In this case the xRegions array is used to create MPU regions
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273 for all three of the arrays declared directly above. Each MPU region is
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274 created with different parameters. Again, THIS IS JUST TO DEMONSTRATE THE
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275 MPU FUNCTIONALITY, the data is not used by the check tasks primary function
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276 of monitoring the reg test tasks and printing out status information.*/
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278 /* Base address Length Parameters */
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279 { cReadWriteArray, mainREAD_WRITE_ALIGN_SIZE, portMPU_REGION_READ_WRITE },
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280 { cReadOnlyArray, mainREAD_ONLY_ALIGN_SIZE, portMPU_REGION_READ_ONLY },
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281 { cPrivilegedOnlyAccessArray, mainPRIVILEGED_ONLY_ACCESS_ALIGN_SIZE, portMPU_REGION_PRIVILEGED_READ_WRITE }
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287 /*-----------------------------------------------------------*/
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288 /* Data used by the 'reg test' tasks. -----------------------*/
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289 /*-----------------------------------------------------------*/
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291 /* Define the constants used to allocate the reg test task stacks. Note that
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292 that stack size is defined in words, not bytes. */
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293 #define mainREG_TEST_STACK_SIZE_WORDS 128
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294 #define mainREG_TEST_STACK_ALIGNMENT ( mainREG_TEST_STACK_SIZE_WORDS * sizeof( portSTACK_TYPE ) )
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296 /* Declare the stacks that will be used by the reg test tasks. The kernel will
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297 automatically create an MPU region for the stack. The stack alignment must
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298 match its size, so if 128 words are reserved for the stack then it must be
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299 aligned to ( 128 * 4 ) bytes. */
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300 static portSTACK_TYPE xRegTest1Stack[ mainREG_TEST_STACK_SIZE_WORDS ] mainALIGN_TO( mainREG_TEST_STACK_ALIGNMENT );
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301 static portSTACK_TYPE xRegTest2Stack[ mainREG_TEST_STACK_SIZE_WORDS ] mainALIGN_TO( mainREG_TEST_STACK_ALIGNMENT );
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303 /* Fill in a TaskParameters_t structure per reg test task to define the tasks. */
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304 static const TaskParameters_t xRegTest1Parameters =
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306 prvRegTest1Task, /* pvTaskCode - the function that implements the task. */
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307 "RegTest1", /* pcName */
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308 mainREG_TEST_STACK_SIZE_WORDS, /* usStackDepth */
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309 ( void * ) 0x12345678, /* pvParameters - this value is just to test that the parameter is being passed into the task correctly. */
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310 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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311 xRegTest1Stack, /* puxStackBuffer - the array to use as the task stack, as declared above. */
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312 { /* xRegions - this task does not use any non-stack data hence all members are zero. */
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313 /* Base address Length Parameters */
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314 { 0x00, 0x00, 0x00 },
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315 { 0x00, 0x00, 0x00 },
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316 { 0x00, 0x00, 0x00 }
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319 /*-----------------------------------------------------------*/
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321 static TaskParameters_t xRegTest2Parameters =
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323 prvRegTest2Task, /* pvTaskCode - the function that implements the task. */
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324 "RegTest2", /* pcName */
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325 mainREG_TEST_STACK_SIZE_WORDS, /* usStackDepth */
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326 ( 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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327 tskIDLE_PRIORITY, /* uxPriority */
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328 xRegTest2Stack, /* puxStackBuffer - the array to use as the task stack, as declared above. */
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329 { /* xRegions - this task does not use any non-stack data hence all members are zero. */
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330 /* Base address Length Parameters */
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331 { 0x00, 0x00, 0x00 },
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332 { 0x00, 0x00, 0x00 },
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333 { 0x00, 0x00, 0x00 }
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337 /*-----------------------------------------------------------*/
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339 /*-----------------------------------------------------------*/
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340 /* Configures the task that is deleted. ---------------------*/
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341 /*-----------------------------------------------------------*/
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343 /* Define the constants used to allocate the stack of the task that is
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344 deleted. Note that that stack size is defined in words, not bytes. */
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345 #define mainDELETE_TASK_STACK_SIZE_WORDS 128
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346 #define mainTASK_TO_DELETE_STACK_ALIGNMENT ( mainDELETE_TASK_STACK_SIZE_WORDS * sizeof( portSTACK_TYPE ) )
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348 /* Declare the stack that will be used by the task that gets deleted. The
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349 kernel will automatically create an MPU region for the stack. The stack
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350 alignment must match its size, so if 128 words are reserved for the stack
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351 then it must be aligned to ( 128 * 4 ) bytes. */
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352 static portSTACK_TYPE xDeleteTaskStack[ mainDELETE_TASK_STACK_SIZE_WORDS ] mainALIGN_TO( mainTASK_TO_DELETE_STACK_ALIGNMENT );
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354 static TaskParameters_t xTaskToDeleteParameters =
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356 prvTaskToDelete, /* pvTaskCode - the function that implements the task. */
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357 "DeleteMe", /* pcName */
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358 mainDELETE_TASK_STACK_SIZE_WORDS, /* usStackDepth */
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359 ( 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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360 tskIDLE_PRIORITY + 1, /* uxPriority */
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361 xDeleteTaskStack, /* puxStackBuffer - the array to use as the task stack, as declared above. */
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362 { /* xRegions - this task does not use any non-stack data hence all members are zero. */
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363 /* Base address Length Parameters */
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364 { 0x00, 0x00, 0x00 },
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365 { 0x00, 0x00, 0x00 },
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366 { 0x00, 0x00, 0x00 }
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370 /*-----------------------------------------------------------*/
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374 prvSetupHardware();
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376 /* Create the queue used to pass "I'm alive" messages to the check task. */
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377 xFileScopeCheckQueue = xQueueCreate( 1, sizeof( uint32_t ) );
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379 /* One check task uses the task parameter to receive the queue handle.
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380 This allows the file scope variable to be accessed from within the task.
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381 The pvParameters member of xRegTest2Parameters can only be set after the
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382 queue has been created so is set here. */
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383 xRegTest2Parameters.pvParameters = xFileScopeCheckQueue;
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385 /* Create the three test tasks. Handles to the created tasks are not
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386 required, hence the second parameter is NULL. */
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387 xTaskCreateRestricted( &xRegTest1Parameters, NULL );
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388 xTaskCreateRestricted( &xRegTest2Parameters, NULL );
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389 xTaskCreateRestricted( &xCheckTaskParameters, NULL );
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391 /* Create a task that does nothing but get deleted. This is done for code
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392 coverage test purposes only. The task's handle is saved in xTaskToDelete
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393 so it can get deleted in the idle task hook. */
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394 xTaskCreateRestricted( &xTaskToDeleteParameters, &xTaskToDelete );
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396 /* Create the tasks that are created using the original xTaskCreate() API
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398 xTaskCreate( prvOldStyleUserModeTask, /* The function that implements the task. */
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399 "Task1", /* Text name for the task. */
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400 100, /* Stack depth in words. */
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401 NULL, /* Task parameters. */
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402 3, /* Priority and mode (user in this case). */
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406 xTaskCreate( prvOldStylePrivilegedModeTask, /* The function that implements the task. */
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407 "Task2", /* Text name for the task. */
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408 100, /* Stack depth in words. */
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409 NULL, /* Task parameters. */
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410 ( 3 | portPRIVILEGE_BIT ), /* Priority and mode. */
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414 /* Create and start the software timer. */
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415 xTimer = xTimerCreate( "Timer", /* Test name for the timer. */
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416 mainTIMER_PERIOD, /* Period of the timer. */
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417 pdTRUE, /* The timer will auto-reload itself. */
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418 ( void * ) 0, /* The timer's ID is used to count the number of times it expires - initialise this to 0. */
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419 prvTimerCallback ); /* The function called when the timer expires. */
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420 configASSERT( xTimer );
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421 xTimerStart( xTimer, mainDONT_BLOCK );
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423 /* Start the scheduler. */
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424 vTaskStartScheduler();
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426 /* Will only get here if there was insufficient memory to create the idle
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431 /*-----------------------------------------------------------*/
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433 static void prvCheckTask( void *pvParameters )
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435 /* This task is created in privileged mode so can access the file scope
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436 queue variable. Take a stack copy of this before the task is set into user
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437 mode. Once that task is in user mode the file scope queue variable will no
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438 longer be accessible but the stack copy will. */
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439 QueueHandle_t xQueue = xFileScopeCheckQueue;
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441 uint32_t ulStillAliveCounts[ 2 ] = { 0 };
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442 const char *pcStatusMessage = "PASS\r\n";
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443 volatile uint32_t ulStatus = pdPASS;
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446 /* Just to remove compiler warning. */
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447 ( void ) pvParameters;
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449 /* Demonstrate how the various memory regions can and can't be accessed.
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450 The task privilege level is set down to user mode within this function. */
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451 prvTestMemoryRegions();
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453 /* Tests are done so lower the privilege status. */
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454 portSWITCH_TO_USER_MODE();
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456 /* This loop performs the main function of the task, which is blocking
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457 on a message queue then processing each message as it arrives. */
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460 /* Wait for the next message to arrive. */
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461 xQueueReceive( xQueue, &lMessage, portMAX_DELAY );
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465 case mainREG_TEST_1_STILL_EXECUTING :
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466 /* Message from task 1, so task 1 must still be executing. */
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467 ( ulStillAliveCounts[ 0 ] )++;
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470 case mainREG_TEST_2_STILL_EXECUTING :
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471 /* Message from task 2, so task 2 must still be executing. */
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472 ( ulStillAliveCounts[ 1 ] )++;
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475 case mainPRINT_SYSTEM_STATUS :
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476 /* Message from tick hook, time to print out the system
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477 status. If messages has stopped arriving from either reg
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478 test task then the status must be set to fail. */
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479 if( ( ulStillAliveCounts[ 0 ] == 0 ) || ( ulStillAliveCounts[ 1 ] == 0 ) )
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481 /* One or both of the test tasks are no longer sending
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482 'still alive' messages. */
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483 pcStatusMessage = "FAIL\r\n";
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485 /* ulStatus can be viewed (live) in the Keil watch window. */
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490 /**** print pcStatusMessage here. ****/
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491 ( void ) pcStatusMessage;
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493 /* Reset the count of 'still alive' messages. */
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494 memset( ulStillAliveCounts, 0x00, sizeof( ulStillAliveCounts ) );
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498 /* Something unexpected happened. Delete this task so the
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499 error is apparent (no output will be displayed). */
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505 /*-----------------------------------------------------------*/
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507 static void prvTestMemoryRegions( void )
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512 /* The check task (from which this function is called) is created in the
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513 Privileged mode. The privileged array can be both read from and written
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514 to while this task is privileged. */
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515 cPrivilegedOnlyAccessArray[ 0 ] = 'a';
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516 if( cPrivilegedOnlyAccessArray[ 0 ] != 'a' )
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518 /* Something unexpected happened. Delete this task so the error is
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519 apparent (no output will be displayed). */
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523 /* Writing off the end of the RAM allocated to this task will *NOT* cause a
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524 protection fault because the task is still executing in a privileged mode.
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525 Uncomment the following to test. */
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526 /*cPrivilegedOnlyAccessArray[ mainPRIVILEGED_ONLY_ACCESS_ALIGN_SIZE ] = 'a';*/
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528 /* Now set the task into user mode. */
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529 portSWITCH_TO_USER_MODE();
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531 /* Accessing the privileged only array will now cause a fault. Uncomment
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532 the following line to test. */
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533 /*cPrivilegedOnlyAccessArray[ 0 ] = 'a';*/
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535 /* The read/write array can still be successfully read and written. */
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536 for( x = 0; x < mainREAD_WRITE_ALIGN_SIZE; x++ )
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538 cReadWriteArray[ x ] = 'a';
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539 if( cReadWriteArray[ x ] != 'a' )
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541 /* Something unexpected happened. Delete this task so the error is
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542 apparent (no output will be displayed). */
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547 /* But attempting to read or write off the end of the RAM allocated to this
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548 task will cause a fault. Uncomment either of the following two lines to
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550 /* cReadWriteArray[ 0 ] = cReadWriteArray[ -1 ]; */
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551 /* cReadWriteArray[ mainREAD_WRITE_ALIGN_SIZE ] = 0x00; */
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553 /* The read only array can be successfully read... */
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554 for( x = 0; x < mainREAD_ONLY_ALIGN_SIZE; x++ )
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556 cTemp = cReadOnlyArray[ x ];
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559 /* ...but cannot be written. Uncomment the following line to test. */
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560 /* cReadOnlyArray[ 0 ] = 'a'; */
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562 /* Writing to the first and last locations in the stack array should not
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563 cause a protection fault. Note that doing this will cause the kernel to
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564 detect a stack overflow if configCHECK_FOR_STACK_OVERFLOW is greater than
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565 1, hence the test is commented out by default. */
\r
566 /* xCheckTaskStack[ 0 ] = 0;
\r
567 xCheckTaskStack[ mainCHECK_TASK_STACK_SIZE_WORDS - 1 ] = 0; */
\r
569 /* Writing off either end of the stack array should cause a protection
\r
570 fault, uncomment either of the following two lines to test. */
\r
571 /* xCheckTaskStack[ -1 ] = 0; */
\r
572 /* xCheckTaskStack[ mainCHECK_TASK_STACK_SIZE_WORDS ] = 0; */
\r
576 /*-----------------------------------------------------------*/
\r
578 static void prvRegTest1Task( void *pvParameters )
\r
580 /* This task is created in privileged mode so can access the file scope
\r
581 queue variable. Take a stack copy of this before the task is set into user
\r
582 mode. Once this task is in user mode the file scope queue variable will no
\r
583 longer be accessible but the stack copy will. */
\r
584 QueueHandle_t xQueue = xFileScopeCheckQueue;
\r
586 /* Now the queue handle has been obtained the task can switch to user
\r
587 mode. This is just one method of passing a handle into a protected
\r
588 task, the other reg test task uses the task parameter instead. */
\r
589 portSWITCH_TO_USER_MODE();
\r
591 /* First check that the parameter value is as expected. */
\r
592 if( pvParameters != ( void * ) 0x12345678 )
\r
594 /* Error detected. Delete the task so it stops communicating with
\r
602 /* This task tests the kernel context switch mechanism by reading and
\r
603 writing directly to registers - which requires the test to be written
\r
604 in assembly code. */
\r
607 " MOV R4, #104 \n" /* Set registers to a known value. R0 to R1 are done in the loop below. */
\r
612 " MOV R10, #110 \n"
\r
613 " MOV R11, #111 \n"
\r
615 " MOV R0, #100 \n" /* Set the scratch registers to known values - done inside the loop as they get clobbered. */
\r
619 " MOV R12, #112 \n"
\r
620 " SVC #1 \n" /* Yield just to increase test coverage. */
\r
621 " CMP R0, #100 \n" /* Check all the registers still contain their expected values. */
\r
622 " BNE prvDeleteMe \n" /* Value was not as expected, delete the task so it stops communicating with the check task. */
\r
624 " BNE prvDeleteMe \n"
\r
626 " BNE prvDeleteMe \n"
\r
628 " BNE prvDeleteMe \n"
\r
630 " BNE prvDeleteMe \n"
\r
632 " BNE prvDeleteMe \n"
\r
634 " BNE prvDeleteMe \n"
\r
636 " BNE prvDeleteMe \n"
\r
638 " BNE prvDeleteMe \n"
\r
639 " CMP R10, #110 \n"
\r
640 " BNE prvDeleteMe \n"
\r
641 " CMP R11, #111 \n"
\r
642 " BNE prvDeleteMe \n"
\r
643 " CMP R12, #112 \n"
\r
644 " BNE prvDeleteMe \n"
\r
645 :::"r0", "r1", "r2", "r3", "r4", "r5", "r6", "r8", "r9", "r10", "r11", "r12"
\r
648 /* Send mainREG_TEST_1_STILL_EXECUTING to the check task to indicate that this
\r
649 task is still functioning. */
\r
650 prvSendImAlive( xQueue, mainREG_TEST_1_STILL_EXECUTING );
\r
652 /* Go back to check all the register values again. */
\r
653 __asm volatile( " B reg1loop " );
\r
656 /*-----------------------------------------------------------*/
\r
658 static void prvRegTest2Task( void *pvParameters )
\r
660 /* The queue handle is passed in as the task parameter. This is one method of
\r
661 passing data into a protected task, the other reg test task uses a different
\r
663 QueueHandle_t xQueue = ( QueueHandle_t ) pvParameters;
\r
667 /* This task tests the kernel context switch mechanism by reading and
\r
668 writing directly to registers - which requires the test to be written
\r
669 in assembly code. */
\r
672 " MOV R4, #4 \n" /* Set registers to a known value. R0 to R1 are done in the loop below. */
\r
675 " MOV R8, #8 \n" /* Frame pointer is omitted as it must not be changed. */
\r
680 " MOV R0, #13 \n" /* Set the scratch registers to known values - done inside the loop as they get clobbered. */
\r
685 " CMP R0, #13 \n" /* Check all the registers still contain their expected values. */
\r
686 " BNE prvDeleteMe \n" /* Value was not as expected, delete the task so it stops communicating with the check task */
\r
688 " BNE prvDeleteMe \n"
\r
690 " BNE prvDeleteMe \n"
\r
692 " BNE prvDeleteMe \n"
\r
694 " BNE prvDeleteMe \n"
\r
696 " BNE prvDeleteMe \n"
\r
698 " BNE prvDeleteMe \n"
\r
700 " BNE prvDeleteMe \n"
\r
702 " BNE prvDeleteMe \n"
\r
704 " BNE prvDeleteMe \n"
\r
706 " BNE prvDeleteMe \n"
\r
708 " BNE prvDeleteMe \n"
\r
709 :::"r0", "r1", "r2", "r3", "r4", "r5", "r6", "r8", "r9", "r10", "r11", "r12"
\r
712 /* Send mainREG_TEST_2_STILL_EXECUTING to the check task to indicate that this
\r
713 task is still functioning. */
\r
714 prvSendImAlive( xQueue, mainREG_TEST_2_STILL_EXECUTING );
\r
716 /* Go back to check all the register values again. */
\r
717 __asm volatile( " B reg2loop " );
\r
720 /*-----------------------------------------------------------*/
\r
722 static void prvTaskToDelete( void *pvParameters )
\r
724 /* Remove compiler warnings about unused parameters. */
\r
725 ( void ) pvParameters;
\r
727 /* This task has nothing to do - for code coverage test purposes it is
\r
728 deleted by the Idle task. */
\r
729 vTaskSuspend( NULL );
\r
731 /*-----------------------------------------------------------*/
\r
733 void vApplicationIdleHook( void )
\r
735 extern uint32_t __SRAM_segment_end__[];
\r
736 extern uint32_t __privileged_data_start__[];
\r
737 extern uint32_t __privileged_data_end__[];
\r
738 extern uint32_t __FLASH_segment_start__[];
\r
739 extern uint32_t __FLASH_segment_end__[];
\r
740 volatile uint32_t *pul;
\r
741 volatile uint32_t ulReadData;
\r
743 /* The idle task, and therefore this function, run in Supervisor mode and
\r
744 can therefore access all memory. Try reading from corners of flash and
\r
745 RAM to ensure a memory fault does not occur.
\r
747 Start with the edges of the privileged data area. */
\r
748 pul = __privileged_data_start__;
\r
750 pul = __privileged_data_end__ - 1;
\r
753 /* Next the standard SRAM area. */
\r
754 pul = __SRAM_segment_end__ - 1;
\r
757 /* And the standard Flash area - the start of which is marked for
\r
758 privileged access only. */
\r
759 pul = __FLASH_segment_start__;
\r
761 pul = __FLASH_segment_end__ - 1;
\r
764 /* Reading off the end of Flash or SRAM space should cause a fault.
\r
765 Uncomment one of the following two pairs of lines to test. */
\r
767 /* pul = __FLASH_segment_end__ + 4;
\r
768 ulReadData = *pul; */
\r
770 /* pul = __SRAM_segment_end__ + 1;
\r
771 ulReadData = *pul; */
\r
773 /* One task is created purely so it can be deleted - done for code coverage
\r
775 if( xTaskToDelete != NULL )
\r
777 vTaskDelete( xTaskToDelete );
\r
778 xTaskToDelete = NULL;
\r
781 ( void ) ulReadData;
\r
783 /*-----------------------------------------------------------*/
\r
785 static void prvOldStyleUserModeTask( void *pvParameters )
\r
787 extern uint32_t __privileged_data_start__[];
\r
788 extern uint32_t __privileged_data_end__[];
\r
789 extern uint32_t __SRAM_segment_end__[];
\r
790 extern uint32_t __privileged_functions_end__[];
\r
791 extern uint32_t __FLASH_segment_start__[];
\r
792 extern uint32_t __FLASH_segment_end__[];
\r
793 /*const volatile uint32_t *pulStandardPeripheralRegister = ( volatile uint32_t * ) 0x40000000;*/
\r
794 volatile uint32_t *pul;
\r
795 volatile uint32_t ulReadData;
\r
797 /* The following lines are commented out to prevent the unused variable
\r
798 compiler warnings when the tests that use the variable are also commented out. */
\r
799 /*extern uint32_t __privileged_functions_start__[];
\r
800 const volatile uint32_t *pulSystemPeripheralRegister = ( volatile uint32_t * ) 0xe000e014;*/
\r
802 ( void ) pvParameters;
\r
804 /* This task is created in User mode using the original xTaskCreate() API
\r
805 function. It should have access to all Flash and RAM except that marked
\r
806 as Privileged access only. Reading from the start and end of the non-
\r
807 privileged RAM should not cause a problem (the privileged RAM is the first
\r
808 block at the bottom of the RAM memory). */
\r
809 pul = __privileged_data_end__ + 1;
\r
811 pul = __SRAM_segment_end__ - 1;
\r
814 /* Likewise reading from the start and end of the non-privileged Flash
\r
815 should not be a problem (the privileged Flash is the first block at the
\r
816 bottom of the Flash memory). */
\r
817 pul = __privileged_functions_end__ + 1;
\r
819 pul = __FLASH_segment_end__ - 1;
\r
822 /* Standard peripherals are accessible. */
\r
823 /*ulReadData = *pulStandardPeripheralRegister;*/
\r
825 /* System peripherals are not accessible. Uncomment the following line
\r
826 to test. Also uncomment the declaration of pulSystemPeripheralRegister
\r
827 at the top of this function.
\r
828 ulReadData = *pulSystemPeripheralRegister; */
\r
830 /* Reading from anywhere inside the privileged Flash or RAM should cause a
\r
831 fault. This can be tested by uncommenting any of the following pairs of
\r
832 lines. Also uncomment the declaration of __privileged_functions_start__
\r
833 at the top of this function. */
\r
835 /*pul = __privileged_functions_start__;
\r
836 ulReadData = *pul;*/
\r
838 /*pul = __privileged_functions_end__ - 1;
\r
839 ulReadData = *pul;*/
\r
841 /*pul = __privileged_data_start__;
\r
842 ulReadData = *pul;*/
\r
844 /*pul = __privileged_data_end__ - 1;
\r
845 ulReadData = *pul;*/
\r
847 /* Must not just run off the end of a task function, so delete this task.
\r
848 Note that because this task was created using xTaskCreate() the stack was
\r
849 allocated dynamically and I have not included any code to free it again. */
\r
850 vTaskDelete( NULL );
\r
852 ( void ) ulReadData;
\r
854 /*-----------------------------------------------------------*/
\r
856 static void prvOldStylePrivilegedModeTask( void *pvParameters )
\r
858 extern uint32_t __privileged_data_start__[];
\r
859 extern uint32_t __privileged_data_end__[];
\r
860 extern uint32_t __SRAM_segment_end__[];
\r
861 extern uint32_t __privileged_functions_start__[];
\r
862 extern uint32_t __privileged_functions_end__[];
\r
863 extern uint32_t __FLASH_segment_start__[];
\r
864 extern uint32_t __FLASH_segment_end__[];
\r
865 volatile uint32_t *pul;
\r
866 volatile uint32_t ulReadData;
\r
867 const volatile uint32_t *pulSystemPeripheralRegister = ( volatile uint32_t * ) 0xe000e014; /* Systick */
\r
868 /*const volatile uint32_t *pulStandardPeripheralRegister = ( volatile uint32_t * ) 0x40000000;*/
\r
870 ( void ) pvParameters;
\r
872 /* This task is created in Privileged mode using the original xTaskCreate()
\r
873 API function. It should have access to all Flash and RAM including that
\r
874 marked as Privileged access only. So reading from the start and end of the
\r
875 non-privileged RAM should not cause a problem (the privileged RAM is the
\r
876 first block at the bottom of the RAM memory). */
\r
877 pul = __privileged_data_end__ + 1;
\r
879 pul = __SRAM_segment_end__ - 1;
\r
882 /* Likewise reading from the start and end of the non-privileged Flash
\r
883 should not be a problem (the privileged Flash is the first block at the
\r
884 bottom of the Flash memory). */
\r
885 pul = __privileged_functions_end__ + 1;
\r
887 pul = __FLASH_segment_end__ - 1;
\r
890 /* Reading from anywhere inside the privileged Flash or RAM should also
\r
891 not be a problem. */
\r
892 pul = __privileged_functions_start__;
\r
894 pul = __privileged_functions_end__ - 1;
\r
896 pul = __privileged_data_start__;
\r
898 pul = __privileged_data_end__ - 1;
\r
901 /* Finally, accessing both System and normal peripherals should both be
\r
903 ulReadData = *pulSystemPeripheralRegister;
\r
904 /*ulReadData = *pulStandardPeripheralRegister;*/
\r
906 /* Must not just run off the end of a task function, so delete this task.
\r
907 Note that because this task was created using xTaskCreate() the stack was
\r
908 allocated dynamically and I have not included any code to free it again. */
\r
909 vTaskDelete( NULL );
\r
911 ( void ) ulReadData;
\r
913 /*-----------------------------------------------------------*/
\r
915 static void prvDeleteMe( void )
\r
917 vTaskDelete( NULL );
\r
919 /*-----------------------------------------------------------*/
\r
921 static void prvSendImAlive( QueueHandle_t xHandle, uint32_t ulTaskNumber )
\r
923 if( xHandle != NULL )
\r
925 xQueueSend( xHandle, &ulTaskNumber, mainDONT_BLOCK );
\r
928 /*-----------------------------------------------------------*/
\r
930 static void prvSetupHardware( void )
\r
933 /*-----------------------------------------------------------*/
\r
935 void vApplicationTickHook( void )
\r
937 static uint32_t ulCallCount;
\r
938 const uint32_t ulCallsBetweenSends = 5000UL / configTICK_RATE_HZ;
\r
939 const uint32_t ulMessage = mainPRINT_SYSTEM_STATUS;
\r
940 portBASE_TYPE xDummy;
\r
942 /* If configUSE_TICK_HOOK is set to 1 then this function will get called
\r
943 from each RTOS tick. It is called from the tick interrupt and therefore
\r
944 will be executing in the privileged state. */
\r
948 /* Is it time to print out the pass/fail message again? */
\r
949 if( ulCallCount >= ulCallsBetweenSends )
\r
953 /* Send a message to the check task to command it to check that all
\r
954 the tasks are still running then print out the status.
\r
956 This is running in an ISR so has to use the "FromISR" version of
\r
957 xQueueSend(). Because it is in an ISR it is running with privileges
\r
958 so can access xFileScopeCheckQueue directly. */
\r
959 xQueueSendFromISR( xFileScopeCheckQueue, &ulMessage, &xDummy );
\r
962 /*-----------------------------------------------------------*/
\r
964 void vApplicationStackOverflowHook( TaskHandle_t pxTask, char *pcTaskName )
\r
966 /* If configCHECK_FOR_STACK_OVERFLOW is set to either 1 or 2 then this
\r
967 function will automatically get called if a task overflows its stack. */
\r
969 ( void ) pcTaskName;
\r
972 /*-----------------------------------------------------------*/
\r
974 void vApplicationMallocFailedHook( void )
\r
976 /* If configUSE_MALLOC_FAILED_HOOK is set to 1 then this function will
\r
977 be called automatically if a call to pvPortMalloc() fails. pvPortMalloc()
\r
978 is called automatically when a task, queue or semaphore is created. */
\r
981 /*-----------------------------------------------------------*/
\r
983 void hard_fault_handler( uint32_t * hardfault_args )
\r
985 volatile uint32_t stacked_r0;
\r
986 volatile uint32_t stacked_r1;
\r
987 volatile uint32_t stacked_r2;
\r
988 volatile uint32_t stacked_r3;
\r
989 volatile uint32_t stacked_r12;
\r
990 volatile uint32_t stacked_lr;
\r
991 volatile uint32_t stacked_pc;
\r
992 volatile uint32_t stacked_psr;
\r
994 stacked_r0 = ((uint32_t) hardfault_args[0]);
\r
995 stacked_r1 = ((uint32_t) hardfault_args[1]);
\r
996 stacked_r2 = ((uint32_t) hardfault_args[2]);
\r
997 stacked_r3 = ((uint32_t) hardfault_args[3]);
\r
999 stacked_r12 = ((uint32_t) hardfault_args[4]);
\r
1000 stacked_lr = ((uint32_t) hardfault_args[5]);
\r
1001 stacked_pc = ((uint32_t) hardfault_args[6]);
\r
1002 stacked_psr = ((uint32_t) hardfault_args[7]);
\r
1004 /* Inspect stacked_pc to locate the offending instruction. */
\r
1007 ( void ) stacked_psr;
\r
1008 ( void ) stacked_pc;
\r
1009 ( void ) stacked_lr;
\r
1010 ( void ) stacked_r12;
\r
1011 ( void ) stacked_r0;
\r
1012 ( void ) stacked_r1;
\r
1013 ( void ) stacked_r2;
\r
1014 ( void ) stacked_r3;
\r
1016 /*-----------------------------------------------------------*/
\r
1018 void HardFault_Handler( void ) __attribute__((naked));
\r
1019 void HardFault_Handler( void )
\r
1025 " mrseq r0, msp \n"
\r
1026 " mrsne r0, psp \n"
\r
1027 " ldr r1, [r0, #24] \n"
\r
1028 " ldr r2, handler_address_const \n"
\r
1030 " handler_address_const: .word hard_fault_handler \n"
\r
1033 /*-----------------------------------------------------------*/
\r
1035 void MemManage_Handler( void ) __attribute__((naked));
\r
1036 void MemManage_Handler( void )
\r
1042 " mrseq r0, msp \n"
\r
1043 " mrsne r0, psp \n"
\r
1044 " ldr r1, [r0, #24] \n"
\r
1045 " ldr r2, handler2_address_const \n"
\r
1047 " handler2_address_const: .word hard_fault_handler \n"
\r
1050 /*-----------------------------------------------------------*/
\r
1052 static void prvTimerCallback( TaskHandle_t xExpiredTimer )
\r
1056 /* The count of the number of times this timer has expired is saved in the
\r
1057 timer's ID. Obtain the current count. */
\r
1058 ulCount = ( uint32_t ) pvTimerGetTimerID( xTimer );
\r
1060 /* Increment the count, and save it back into the timer's ID. */
\r
1062 vTimerSetTimerID( xTimer, ( void * ) ulCount );
\r
1064 /*-----------------------------------------------------------*/
\r
1066 /* configUSE_STATIC_ALLOCATION is set to 1, so the application must provide an
\r
1067 implementation of vApplicationGetIdleTaskMemory() to provide the memory that is
\r
1068 used by the Idle task. */
\r
1069 void vApplicationGetIdleTaskMemory( StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize )
\r
1071 /* If the buffers to be provided to the Idle task are declared inside this
\r
1072 function then they must be declared static - otherwise they will be allocated on
\r
1073 the stack and so not exists after this function exits. */
\r
1074 static StaticTask_t xIdleTaskTCB;
\r
1075 static StackType_t uxIdleTaskStack[ configMINIMAL_STACK_SIZE ];
\r
1077 /* Pass out a pointer to the StaticTask_t structure in which the Idle task's
\r
1078 state will be stored. */
\r
1079 *ppxIdleTaskTCBBuffer = &xIdleTaskTCB;
\r
1081 /* Pass out the array that will be used as the Idle task's stack. */
\r
1082 *ppxIdleTaskStackBuffer = uxIdleTaskStack;
\r
1084 /* Pass out the size of the array pointed to by *ppxIdleTaskStackBuffer.
\r
1085 Note that, as the array is necessarily of type StackType_t,
\r
1086 configMINIMAL_STACK_SIZE is specified in words, not bytes. */
\r
1087 *pulIdleTaskStackSize = configMINIMAL_STACK_SIZE;
\r
1089 /*-----------------------------------------------------------*/
\r
1091 /* configUSE_STATIC_ALLOCATION and configUSE_TIMERS are both set to 1, so the
\r
1092 application must provide an implementation of vApplicationGetTimerTaskMemory()
\r
1093 to provide the memory that is used by the Timer service task. */
\r
1094 void vApplicationGetTimerTaskMemory( StaticTask_t **ppxTimerTaskTCBBuffer, StackType_t **ppxTimerTaskStackBuffer, uint32_t *pulTimerTaskStackSize )
\r
1096 /* If the buffers to be provided to the Timer task are declared inside this
\r
1097 function then they must be declared static - otherwise they will be allocated on
\r
1098 the stack and so not exists after this function exits. */
\r
1099 static StaticTask_t xTimerTaskTCB;
\r
1100 static StackType_t uxTimerTaskStack[ configTIMER_TASK_STACK_DEPTH ];
\r
1102 /* Pass out a pointer to the StaticTask_t structure in which the Timer
\r
1103 task's state will be stored. */
\r
1104 *ppxTimerTaskTCBBuffer = &xTimerTaskTCB;
\r
1106 /* Pass out the array that will be used as the Timer task's stack. */
\r
1107 *ppxTimerTaskStackBuffer = uxTimerTaskStack;
\r
1109 /* Pass out the size of the array pointed to by *ppxTimerTaskStackBuffer.
\r
1110 Note that, as the array is necessarily of type StackType_t,
\r
1111 configMINIMAL_STACK_SIZE is specified in words, not bytes. */
\r
1112 *pulTimerTaskStackSize = configTIMER_TASK_STACK_DEPTH;
\r
projects / freertos / blob