2 * FreeRTOS Kernel V10.0.0
\r
3 * Copyright (C) 2017 Amazon.com, Inc. or its affiliates. All Rights Reserved.
\r
5 * Permission is hereby granted, free of charge, to any person obtaining a copy of
\r
6 * this software and associated documentation files (the "Software"), to deal in
\r
7 * the Software without restriction, including without limitation the rights to
\r
8 * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
\r
9 * the Software, and to permit persons to whom the Software is furnished to do so,
\r
10 * subject to the following conditions:
\r
12 * The above copyright notice and this permission notice shall be included in all
\r
13 * copies or substantial portions of the Software. If you wish to use our Amazon
\r
14 * FreeRTOS name, please do so in a fair use way that does not cause confusion.
\r
16 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
\r
17 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
\r
18 * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
\r
19 * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
\r
20 * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
\r
21 * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
\r
23 * http://www.FreeRTOS.org
\r
24 * http://aws.amazon.com/freertos
\r
26 * 1 tab == 4 spaces!
\r
31 * This file demonstrates the use of FreeRTOS-MPU in a completely statically
\r
32 * allocated application (with configSUPPORT_DYNAMIC_ALLOCATION set to 0). It
\r
33 * creates tasks in both User mode and Privileged mode, and using both the
\r
34 * xTaskCreateStatic() and xTaskCreateRestrictedStatic() API functions. The
\r
35 * purpose of each created task is documented in the comments above the task
\r
36 * function prototype (in this file), with the task behaviour demonstrated and
\r
37 * documented within the task function itself.
\r
39 * In addition a queue is used to demonstrate passing data between
\r
40 * protected/restricted tasks as well as passing data between an interrupt and
\r
41 * a protected/restricted task. A software timer is also used.
\r
44 /* Standard includes. */
\r
47 /* Scheduler includes. */
\r
48 #include "FreeRTOS.h"
\r
53 #include "event_groups.h"
\r
55 /*-----------------------------------------------------------*/
\r
57 /* Misc constants. */
\r
58 #define mainDONT_BLOCK ( 0 )
\r
60 /* GCC specifics. */
\r
61 #define mainALIGN_TO( x ) __attribute__((aligned(x)))
\r
63 /* Hardware register addresses. */
\r
64 #define mainVTOR ( * ( volatile uint32_t * ) 0xE000ED08 )
\r
66 /* The period of the timer must be less than the rate at which
\r
67 configPRINT_SYSTEM_STATUS messages are sent to the check task - otherwise the
\r
68 check task will think the timer has stopped. */
\r
69 #define mainTIMER_PERIOD pdMS_TO_TICKS( 200 )
\r
71 /* The name of the task that is deleted by the Idle task is used in a couple of
\r
72 places, so is #defined. */
\r
73 #define mainTASK_TO_DELETE_NAME "DeleteMe"
\r
75 /*-----------------------------------------------------------*/
\r
76 /* Prototypes for functions that implement tasks. -----------*/
\r
77 /*-----------------------------------------------------------*/
\r
80 * NOTE: The filling and checking of the registers in the following two tasks
\r
81 * is only actually performed when the GCC compiler is used. Use of the
\r
82 * queue to communicate with the check task is done with all compilers.
\r
84 * Prototype for the first two register test tasks, which execute in User mode.
\r
85 * Amongst other things, these fill the CPU registers (other than the FPU
\r
86 * registers) with known values before checking that the registers still contain
\r
87 * the expected values. Each of the two tasks use different values so an error
\r
88 * in the context switch mechanism can be caught. Both tasks execute at the
\r
89 * idle priority so will get preempted regularly. Each task repeatedly sends a
\r
90 * message on a queue to a 'check' task so the check task knows the register
\r
91 * check task is still executing and has not detected any errors. If an error
\r
92 * is detected within the task the task is simply deleted so it no longer sends
\r
95 * For demonstration and test purposes, both tasks obtain access to the queue
\r
96 * handle in different ways; vRegTest1Implementation() is created in Privileged
\r
97 * mode and copies the queue handle to its local stack before setting itself to
\r
98 * User mode, and vRegTest2Implementation() receives the task handle using its
\r
101 extern void vRegTest1Implementation( void *pvParameters );
\r
102 extern void vRegTest2Implementation( void *pvParameters );
\r
105 * The second two register test tasks are similar to the first two, but do test
\r
106 * the floating point registers, execute in Privileged mode, and signal their
\r
107 * execution status to the 'check' task by incrementing a loop counter on each
\r
108 * iteration instead of sending a message on a queue. The loop counters use a
\r
109 * memory region to which the User mode 'check' task has read access.
\r
111 * The functions ending 'Implementation' are called by the register check tasks.
\r
113 * The tasks are created with xTaskCreateStatic(), so the stack and variables
\r
114 * used to hold the task's data structures also have to be provided.
\r
116 static StackType_t xRegTest3Stack[ configMINIMAL_STACK_SIZE ], xRegTest4Stack[ configMINIMAL_STACK_SIZE ];
\r
117 static StaticTask_t xRegTest3Buffer, xRegTest4Buffer;
\r
118 static void prvRegTest3Task( void *pvParameters );
\r
119 extern void vRegTest3Implementation( void );
\r
120 static void prvRegTest4Task( void *pvParameters );
\r
121 extern void vRegTest4Implementation( void );
\r
124 * Prototype for the check task. The check task demonstrates various features
\r
125 * of the MPU before entering a loop where it waits for messages to arrive on a
\r
128 * Two types of messages can be processes:
\r
130 * 1) "I'm Alive" messages sent from the first two register test tasks and a
\r
131 * software timer callback, as described above.
\r
133 * 2) "Print Status commands" sent periodically by the tick hook function (and
\r
134 * therefore from within an interrupt) which commands the check task to write
\r
135 * either pass or fail to the terminal, depending on the status of the reg
\r
136 * test tasks (no write is performed in the simulator!).
\r
138 static void prvCheckTask( void *pvParameters );
\r
141 * Prototype for a task created in User mode using vTaskCreateStatic() API
\r
142 * function. The task demonstrates the characteristics of such a task,
\r
143 * before simply deleting itself. As the task is created without using any
\r
144 * dynamic memory allocate the stack and variable in which the task's data
\r
145 * structure will be stored must also be provided - however the task is
\r
146 * unprivileged so the stack cannot be in a privileged section.
\r
148 static StackType_t xUserModeTaskStack[ configMINIMAL_STACK_SIZE ];
\r
149 static PRIVILEGED_DATA StaticTask_t xUserModeTaskBuffer;
\r
150 static void prvOldStyleUserModeTask( void *pvParameters );
\r
153 * Prototype for a task created in Privileged mode using the
\r
154 * xTaskCreateStatic() API function. The task demonstrates the characteristics
\r
155 * of such a task, before simply deleting itself. As no dynamic memory
\r
156 * allocation is used the stack and variable used to hold the task's data
\r
157 * structure must also be provided. The task is privileged, so the stack can
\r
158 * be in a privileged section.
\r
160 static PRIVILEGED_DATA StackType_t xPrivilegedModeTaskStack[ configMINIMAL_STACK_SIZE ];
\r
161 static PRIVILEGED_DATA StaticTask_t xPrivilegedModeTaskBuffer;
\r
162 static void prvOldStylePrivilegedModeTask( void *pvParameters );
\r
165 * A task that exercises the API of various RTOS objects before being deleted by
\r
166 * the Idle task. This is done for MPU API code coverage test purposes.
\r
168 static void prvTaskToDelete( void *pvParameters );
\r
171 * Functions called by prvTaskToDelete() to exercise the MPU API.
\r
173 static void prvExerciseEventGroupAPI( void );
\r
174 static void prvExerciseSemaphoreAPI( void );
\r
175 static void prvExerciseTaskNotificationAPI( void );
\r
178 * Just configures any clocks and IO necessary.
\r
180 static void prvSetupHardware( void );
\r
183 * Simply deletes the calling task. The function is provided only because it
\r
184 * is simpler to call from asm code than the normal vTaskDelete() API function.
\r
185 * It has the noinline attribute because it is called from asm code.
\r
187 void vMainDeleteMe( void ) __attribute__((noinline));
\r
190 * Used by the first two reg test tasks and a software timer callback function
\r
191 * to send messages to the check task. The message just lets the check task
\r
192 * know that the tasks and timer are still functioning correctly. If a reg test
\r
193 * task detects an error it will delete itself, and in so doing prevent itself
\r
194 * from sending any more 'I'm Alive' messages to the check task.
\r
196 void vMainSendImAlive( QueueHandle_t xHandle, uint32_t ulTaskNumber );
\r
199 * The check task is created with access to three memory regions (plus its
\r
200 * stack). Each memory region is configured with different parameters and
\r
201 * prvTestMemoryRegions() demonstrates what can and cannot be accessed for each
\r
202 * region. prvTestMemoryRegions() also demonstrates a task that was created
\r
203 * as a privileged task settings its own privilege level down to that of a user
\r
206 static void prvTestMemoryRegions( void );
\r
209 * Callback function used with the timer that uses the queue to send messages
\r
210 * to the check task.
\r
212 static void prvTimerCallback( TimerHandle_t xExpiredTimer );
\r
214 /*-----------------------------------------------------------*/
\r
216 /* The handle of the queue used to communicate between tasks and between tasks
\r
217 and interrupts. Note that this is a global scope variable that falls outside of
\r
218 any MPU region. As such other techniques have to be used to allow the tasks
\r
219 to gain access to the queue. See the comments in the tasks themselves for
\r
220 further information. */
\r
221 QueueHandle_t xGlobalScopeCheckQueue = NULL;
\r
223 /* xGlobalScopeCheckQueue is created using xQueueCreateStatic(), so the storage
\r
224 area and variable used to hold the queue data structure must also be provided.
\r
225 These are placed in a prviliged segment. */
\r
226 static PRIVILEGED_DATA StaticQueue_t xGlobalScopeQueueBuffer;
\r
227 uint8_t PRIVILEGED_DATA ucGlobalScopeQueueStorageArea[ 1 * sizeof( uint32_t ) ];
\r
230 /* Holds the handle of a task that is deleted in the idle task hook - this is
\r
231 done for code coverage test purposes only. */
\r
232 static TaskHandle_t xTaskToDelete = NULL;
\r
234 /* The timer that periodically sends data to the check task on the queue. This
\r
235 is created with xTimerCreateStatic(), so the variable in which the timer's data
\r
236 structure will be stored must also be provided. The structure is placed in the
\r
237 kernel's privileged data region. */
\r
238 static TimerHandle_t xTimer = NULL;
\r
239 static PRIVILEGED_DATA StaticTimer_t xTimerBuffer;
\r
241 #if defined ( __GNUC__ )
\r
242 extern uint32_t __FLASH_segment_start__[];
\r
243 extern uint32_t __FLASH_segment_end__[];
\r
244 extern uint32_t __SRAM_segment_start__[];
\r
245 extern uint32_t __SRAM_segment_end__[];
\r
246 extern uint32_t __privileged_functions_start__[];
\r
247 extern uint32_t __privileged_functions_end__[];
\r
248 extern uint32_t __privileged_data_start__[];
\r
249 extern uint32_t __privileged_data_end__[];
\r
250 extern uint32_t __privileged_functions_actual_end__[];
\r
251 extern uint32_t __privileged_data_actual_end__[];
\r
253 const uint32_t * __FLASH_segment_start__ = ( uint32_t * ) 0x00UL;
\r
254 const uint32_t * __FLASH_segment_end__ = ( uint32_t * ) 0x00080000UL;
\r
255 const uint32_t * __SRAM_segment_start__ = ( uint32_t * ) 0x20000000UL;
\r
256 const uint32_t * __SRAM_segment_end__ = ( uint32_t * ) 0x20008000UL;
\r
257 const uint32_t * __privileged_functions_start__ = ( uint32_t * ) 0x00UL;
\r
258 const uint32_t * __privileged_functions_end__ = ( uint32_t * ) 0x8000UL;
\r
259 const uint32_t * __privileged_data_start__ = ( uint32_t * ) 0x20000000UL;
\r
260 const uint32_t * __privileged_data_end__ = ( uint32_t * ) 0x20000800UL;
\r
262 /*-----------------------------------------------------------*/
\r
263 /* Data used by the 'check' task. ---------------------------*/
\r
264 /*-----------------------------------------------------------*/
\r
266 /* Define the constants used to allocate the check task stack. Note that the
\r
267 stack size is defined in words, not bytes. */
\r
268 #define mainCHECK_TASK_STACK_SIZE_WORDS 128
\r
269 #define mainCHECK_TASK_STACK_ALIGNMENT ( mainCHECK_TASK_STACK_SIZE_WORDS * sizeof( portSTACK_TYPE ) )
\r
271 /* Declare the stack that will be used by the check task. The kernel will
\r
272 automatically create an MPU region for the stack. The stack alignment must
\r
273 match its size, so if 128 words are reserved for the stack then it must be
\r
274 aligned to ( 128 * 4 ) bytes. */
\r
275 static portSTACK_TYPE xCheckTaskStack[ mainCHECK_TASK_STACK_SIZE_WORDS ] mainALIGN_TO( mainCHECK_TASK_STACK_ALIGNMENT );
\r
277 /* Declare the variable in which the check task's data structures will be
\r
278 stored. PRIVILEGED_DATA is used to place this in the kernel's RAM segment. */
\r
279 static PRIVILEGED_DATA StaticTask_t xCheckTaskBuffer;
\r
281 /* Declare three arrays - an MPU region will be created for each array
\r
282 using the TaskParameters_t structure below. THIS IS JUST TO DEMONSTRATE THE
\r
283 MPU FUNCTIONALITY, the data is not used by the check tasks primary function
\r
284 of monitoring the reg test tasks and printing out status information.
\r
286 Note that the arrays allocate slightly more RAM than is actually assigned to
\r
287 the MPU region. This is to permit writes off the end of the array to be
\r
288 detected even when the arrays are placed in adjacent memory locations (with no
\r
289 gaps between them). The align size must be a power of two. */
\r
290 #define mainREAD_WRITE_ARRAY_SIZE 130
\r
291 #define mainREAD_WRITE_ALIGN_SIZE 128
\r
292 char cReadWriteArray[ mainREAD_WRITE_ARRAY_SIZE ] mainALIGN_TO( mainREAD_WRITE_ALIGN_SIZE );
\r
294 #define mainREAD_ONLY_ARRAY_SIZE 260
\r
295 #define mainREAD_ONLY_ALIGN_SIZE 256
\r
296 char cReadOnlyArray[ mainREAD_ONLY_ARRAY_SIZE ] mainALIGN_TO( mainREAD_ONLY_ALIGN_SIZE );
\r
298 #define mainPRIVILEGED_ONLY_ACCESS_ARRAY_SIZE 130
\r
299 #define mainPRIVILEGED_ONLY_ACCESS_ALIGN_SIZE 128
\r
300 char cPrivilegedOnlyAccessArray[ mainPRIVILEGED_ONLY_ACCESS_ALIGN_SIZE ] mainALIGN_TO( mainPRIVILEGED_ONLY_ACCESS_ALIGN_SIZE );
\r
302 /* The following two variables are used to communicate the status of the second
\r
303 two register check tasks (tasks 3 and 4) to the check task. If the variables
\r
304 keep incrementing, then the register check tasks have not discovered any errors.
\r
305 If a variable stops incrementing, then an error has been found. The variables
\r
306 overlay the array that the check task has access to so they can be read by the
\r
307 check task without causing a memory fault. The check task has the highest
\r
308 priority so will have finished with the array before the register test tasks
\r
309 start to access it. */
\r
310 volatile uint32_t *pulRegTest3LoopCounter = ( uint32_t * ) &( cReadWriteArray[ 0 ] ), *pulRegTest4LoopCounter = ( uint32_t * ) &( cReadWriteArray[ 4 ] );
\r
312 /* Fill in a TaskParameters_t structure to define the check task - this is the
\r
313 structure passed to the xTaskCreateRestricted() function. */
\r
314 static const TaskParameters_t xCheckTaskParameters =
\r
316 prvCheckTask, /* pvTaskCode - the function that implements the task. */
\r
317 "Check", /* pcName */
\r
318 mainCHECK_TASK_STACK_SIZE_WORDS, /* usStackDepth - defined in words, not bytes. */
\r
319 ( void * ) 0x12121212, /* pvParameters - this value is just to test that the parameter is being passed into the task correctly. */
\r
320 ( 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. */
\r
321 xCheckTaskStack, /* puxStackBuffer - the array to use as the task stack, as declared above. */
\r
323 /* xRegions - In this case the xRegions array is used to create MPU regions
\r
324 for all three of the arrays declared directly above. Each MPU region is
\r
325 created with different parameters. Again, THIS IS JUST TO DEMONSTRATE THE
\r
326 MPU FUNCTIONALITY, the data is not used by the check tasks primary function
\r
327 of monitoring the reg test tasks and printing out status information.*/
\r
329 /* Base address Length Parameters */
\r
330 { cReadWriteArray, mainREAD_WRITE_ALIGN_SIZE, portMPU_REGION_READ_WRITE },
\r
331 { cReadOnlyArray, mainREAD_ONLY_ALIGN_SIZE, portMPU_REGION_READ_ONLY },
\r
332 { cPrivilegedOnlyAccessArray, mainPRIVILEGED_ONLY_ACCESS_ALIGN_SIZE, portMPU_REGION_PRIVILEGED_READ_WRITE }
\r
335 &xCheckTaskBuffer /* Additional structure member present when the task is being created without any dynamic memory allocation. */
\r
339 /*-----------------------------------------------------------*/
\r
340 /* Data used by the 'reg test' tasks. -----------------------*/
\r
341 /*-----------------------------------------------------------*/
\r
343 /* Define the constants used to allocate the reg test task stacks. Note that
\r
344 that stack size is defined in words, not bytes. */
\r
345 #define mainREG_TEST_STACK_SIZE_WORDS 128
\r
346 #define mainREG_TEST_STACK_ALIGNMENT ( mainREG_TEST_STACK_SIZE_WORDS * sizeof( portSTACK_TYPE ) )
\r
348 /* Declare the stacks that will be used by the reg test tasks. The kernel will
\r
349 automatically create an MPU region for the stack. The stack alignment must
\r
350 match its size, so if 128 words are reserved for the stack then it must be
\r
351 aligned to ( 128 * 4 ) bytes. */
\r
352 static portSTACK_TYPE xRegTest1Stack[ mainREG_TEST_STACK_SIZE_WORDS ] mainALIGN_TO( mainREG_TEST_STACK_ALIGNMENT );
\r
353 static portSTACK_TYPE xRegTest2Stack[ mainREG_TEST_STACK_SIZE_WORDS ] mainALIGN_TO( mainREG_TEST_STACK_ALIGNMENT );
\r
355 /* The reg test tasks are created using the xTaskCreateRestrictedStatic() API
\r
356 function, so variables that hold the task's data structures must also be
\r
357 provided. The are placed in the kernel's privileged memory section. */
\r
358 static PRIVILEGED_DATA StaticTask_t xRegTest1TaskBuffer, xRegTest2TaskBuffer;
\r
360 /* Fill in a TaskParameters_t structure per reg test task to define the tasks. */
\r
361 static const TaskParameters_t xRegTest1Parameters =
\r
363 vRegTest1Implementation, /* pvTaskCode - the function that implements the task. */
\r
364 "RegTest1", /* pcName */
\r
365 mainREG_TEST_STACK_SIZE_WORDS, /* usStackDepth */
\r
366 ( void * ) configREG_TEST_TASK_1_PARAMETER, /* pvParameters - this value is just to test that the parameter is being passed into the task correctly. */
\r
367 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. */
\r
368 xRegTest1Stack, /* puxStackBuffer - the array to use as the task stack, as declared above. */
\r
369 { /* xRegions - this task does not use any non-stack data hence all members are zero. */
\r
370 /* Base address Length Parameters */
\r
371 { 0x00, 0x00, 0x00 },
\r
372 { 0x00, 0x00, 0x00 },
\r
373 { 0x00, 0x00, 0x00 }
\r
376 &xRegTest1TaskBuffer /* Additional parameter required when the task is created with xTaskCreateRestrictedStatic(). */
\r
378 /*-----------------------------------------------------------*/
\r
380 static TaskParameters_t xRegTest2Parameters =
\r
382 vRegTest2Implementation, /* pvTaskCode - the function that implements the task. */
\r
383 "RegTest2", /* pcName */
\r
384 mainREG_TEST_STACK_SIZE_WORDS, /* usStackDepth */
\r
385 ( void * ) NULL, /* pvParameters - this task uses the parameter to pass in a queue handle, but the queue is not created yet. */
\r
386 tskIDLE_PRIORITY, /* uxPriority */
\r
387 xRegTest2Stack, /* puxStackBuffer - the array to use as the task stack, as declared above. */
\r
388 { /* xRegions - this task does not use any non-stack data hence all members are zero. */
\r
389 /* Base address Length Parameters */
\r
390 { 0x00, 0x00, 0x00 },
\r
391 { 0x00, 0x00, 0x00 },
\r
392 { 0x00, 0x00, 0x00 }
\r
395 &xRegTest2TaskBuffer /* Additional parameter required when the task is created with xTaskCreateRestrictedStatic(). */
\r
398 /*-----------------------------------------------------------*/
\r
399 /* Configures the task that is deleted. ---------------------*/
\r
400 /*-----------------------------------------------------------*/
\r
402 /* Define the constants used to allocate the stack of the task that is
\r
403 deleted. Note that the stack size is defined in words, not bytes. */
\r
404 #define mainDELETE_TASK_STACK_SIZE_WORDS 128
\r
405 #define mainTASK_TO_DELETE_STACK_ALIGNMENT ( mainDELETE_TASK_STACK_SIZE_WORDS * sizeof( portSTACK_TYPE ) )
\r
407 /* Declare the stack that will be used by the task that gets deleted. The
\r
408 kernel will automatically create an MPU region for the stack. The stack
\r
409 alignment must match its size, so if 128 words are reserved for the stack
\r
410 then it must be aligned to ( 128 * 4 ) bytes. */
\r
411 static portSTACK_TYPE xDeleteTaskStack[ mainDELETE_TASK_STACK_SIZE_WORDS ] mainALIGN_TO( mainTASK_TO_DELETE_STACK_ALIGNMENT );
\r
413 /* The task that gets deleted is created using xTaskCreateRestrictedStatic(),
\r
414 so the variable that stores the task's data structure must also be provided.
\r
415 This is placed in the kernel's privileged data segment. */
\r
416 static PRIVILEGED_DATA StaticTask_t xStaticDeleteTaskBuffer;
\r
418 static TaskParameters_t xTaskToDeleteParameters =
\r
420 prvTaskToDelete, /* pvTaskCode - the function that implements the task. */
\r
421 mainTASK_TO_DELETE_NAME, /* pcName */
\r
422 mainDELETE_TASK_STACK_SIZE_WORDS, /* usStackDepth */
\r
423 ( void * ) NULL, /* pvParameters - this task uses the parameter to pass in a queue handle, but the queue is not created yet. */
\r
424 tskIDLE_PRIORITY + 1, /* uxPriority */
\r
425 xDeleteTaskStack, /* puxStackBuffer - the array to use as the task stack, as declared above. */
\r
426 { /* xRegions - this task does not use any non-stack data hence all members are zero. */
\r
427 /* Base address Length Parameters */
\r
428 { 0x00, 0x00, 0x00 },
\r
429 { 0x00, 0x00, 0x00 },
\r
430 { 0x00, 0x00, 0x00 }
\r
433 &xStaticDeleteTaskBuffer /* Additional parameter required when xTaskCreateRestrictedStatic() is used. */
\r
436 /*-----------------------------------------------------------*/
\r
438 volatile uint32_t ul1 = 0x123, ul2 = 0;
\r
442 configASSERT( ul1 == 0x123 );
\r
443 configASSERT( ul2 == 0 );
\r
444 prvSetupHardware();
\r
446 /* Create the queue used to pass "I'm alive" messages to the check task. */
\r
447 xGlobalScopeCheckQueue = xQueueCreateStatic( 1, sizeof( uint32_t ), ucGlobalScopeQueueStorageArea, &xGlobalScopeQueueBuffer );
\r
449 /* One check task uses the task parameter to receive the queue handle.
\r
450 This allows the file scope variable to be accessed from within the task.
\r
451 The pvParameters member of xRegTest2Parameters can only be set after the
\r
452 queue has been created so is set here. */
\r
453 xRegTest2Parameters.pvParameters = xGlobalScopeCheckQueue;
\r
455 /* Create three test tasks. Handles to the created tasks are not required,
\r
456 hence the second parameter is NULL. */
\r
457 xTaskCreateRestrictedStatic( &xRegTest1Parameters, NULL );
\r
458 xTaskCreateRestrictedStatic( &xRegTest2Parameters, NULL );
\r
459 xTaskCreateRestrictedStatic( &xCheckTaskParameters, NULL );
\r
461 /* Create a task that does nothing but ensure some of the MPU API functions
\r
462 can be called correctly, then get deleted. This is done for code coverage
\r
463 test purposes only. The task's handle is saved in xTaskToDelete so it can
\r
464 get deleted in the idle task hook. */
\r
465 xTaskCreateRestrictedStatic( &xTaskToDeleteParameters, &xTaskToDelete );
\r
467 /* Create the tasks that are created using the original xTaskCreate() API
\r
469 xTaskCreateStatic( prvOldStyleUserModeTask, /* The function that implements the task. */
\r
470 "Task1", /* Text name for the task. */
\r
471 100, /* Stack depth in words. */
\r
472 NULL, /* Task parameters. */
\r
473 3, /* Priority and mode (user in this case). */
\r
474 xUserModeTaskStack, /* Used as the task's stack. */
\r
475 &xUserModeTaskBuffer /* Used to hold the task's data structure. */
\r
478 xTaskCreateStatic( prvOldStylePrivilegedModeTask, /* The function that implements the task. */
\r
479 "Task2", /* Text name for the task. */
\r
480 100, /* Stack depth in words. */
\r
481 NULL, /* Task parameters. */
\r
482 ( 3 | portPRIVILEGE_BIT ), /* Priority and mode. */
\r
483 xPrivilegedModeTaskStack, /* Used as the task's stack. */
\r
484 &xPrivilegedModeTaskBuffer /* Used to hold the task's data structure. */
\r
487 /* Create the third and fourth register check tasks, as described at the top
\r
489 xTaskCreateStatic( prvRegTest3Task, "Reg3", configMINIMAL_STACK_SIZE, configREG_TEST_TASK_3_PARAMETER, tskIDLE_PRIORITY, xRegTest3Stack, &xRegTest3Buffer );
\r
490 xTaskCreateStatic( prvRegTest4Task, "Reg4", configMINIMAL_STACK_SIZE, configREG_TEST_TASK_4_PARAMETER, tskIDLE_PRIORITY, xRegTest4Stack, &xRegTest4Buffer );
\r
492 /* Create and start the software timer. */
\r
493 xTimer = xTimerCreateStatic( "Timer", /* Test name for the timer. */
\r
494 mainTIMER_PERIOD, /* Period of the timer. */
\r
495 pdTRUE, /* The timer will auto-reload itself. */
\r
496 ( void * ) 0, /* The timer's ID is used to count the number of times it expires - initialise this to 0. */
\r
497 prvTimerCallback, /* The function called when the timer expires. */
\r
498 &xTimerBuffer ); /* The variable in which the created timer's data structure will be stored. */
\r
499 configASSERT( xTimer );
\r
500 xTimerStart( xTimer, mainDONT_BLOCK );
\r
502 /* Start the scheduler. */
\r
503 vTaskStartScheduler();
\r
505 /* Will only get here if there was insufficient memory to create the idle
\r
509 /*-----------------------------------------------------------*/
\r
511 static void prvCheckTask( void *pvParameters )
\r
513 /* This task is created in privileged mode so can access the file scope
\r
514 queue variable. Take a stack copy of this before the task is set into user
\r
515 mode. Once that task is in user mode the file scope queue variable will no
\r
516 longer be accessible but the stack copy will. */
\r
517 QueueHandle_t xQueue = xGlobalScopeCheckQueue;
\r
519 uint32_t ulStillAliveCounts[ 3 ] = { 0 };
\r
520 const char *pcStatusMessage = "PASS\r\n";
\r
521 uint32_t ulLastRegTest3CountValue = 0, ulLastRegTest4Value = 0;
\r
523 /* The register test tasks that also test the floating point registers increment
\r
524 a counter on each iteration of their loop. The counters are inside the array
\r
525 that this task has access to. */
\r
526 volatile uint32_t *pulOverlaidCounter3 = ( uint32_t * ) &( cReadWriteArray[ 0 ] ), *pulOverlaidCounter4 = ( uint32_t * ) &( cReadWriteArray[ 4 ] );
\r
528 /* ulCycleCount is incremented on each cycle of the check task. It can be
\r
529 viewed updating in the Keil watch window as the simulator does not print to
\r
531 volatile uint32_t ulCycleCount = 0;
\r
533 /* Just to remove compiler warning. */
\r
534 ( void ) pvParameters;
\r
536 /* Demonstrate how the various memory regions can and can't be accessed.
\r
537 The task privilege level is set down to user mode within this function. */
\r
538 prvTestMemoryRegions();
\r
540 /* Clear overlaid reg test counters before entering the loop below. */
\r
541 *pulOverlaidCounter3 = 0UL;
\r
542 *pulOverlaidCounter4 = 0UL;
\r
544 /* This loop performs the main function of the task, which is blocking
\r
545 on a message queue then processing each message as it arrives. */
\r
548 /* Wait for the next message to arrive. */
\r
549 xQueueReceive( xQueue, &lMessage, portMAX_DELAY );
\r
553 case configREG_TEST_1_STILL_EXECUTING :
\r
554 case configREG_TEST_2_STILL_EXECUTING :
\r
555 case configTIMER_STILL_EXECUTING :
\r
556 /* Message from the first or second register check task, or
\r
557 the timer callback function. Increment the count of the
\r
558 number of times the message source has sent the message as
\r
559 the message source must still be executed. */
\r
560 ( ulStillAliveCounts[ lMessage ] )++;
\r
563 case configPRINT_SYSTEM_STATUS :
\r
564 /* Message from tick hook, time to print out the system
\r
565 status. If messages have stopped arriving from either of
\r
566 the first two reg test task or the timer callback then the
\r
567 status must be set to fail. */
\r
568 if( ( ulStillAliveCounts[ 0 ] == 0 ) || ( ulStillAliveCounts[ 1 ] == 0 ) || ( ulStillAliveCounts[ 2 ] == 0 ) )
\r
570 /* One or both of the test tasks are no longer sending
\r
571 'still alive' messages. */
\r
572 pcStatusMessage = "FAIL\r\n";
\r
576 /* Reset the count of 'still alive' messages. */
\r
577 memset( ( void * ) ulStillAliveCounts, 0x00, sizeof( ulStillAliveCounts ) );
\r
580 /* Check that the register test 3 task is still incrementing
\r
581 its counter, and therefore still running. */
\r
582 if( ulLastRegTest3CountValue == *pulOverlaidCounter3 )
\r
584 pcStatusMessage = "FAIL\r\n";
\r
586 ulLastRegTest3CountValue = *pulOverlaidCounter3;
\r
588 /* Check that the register test 4 task is still incrementing
\r
589 its counter, and therefore still running. */
\r
590 if( ulLastRegTest4Value == *pulOverlaidCounter4 )
\r
592 pcStatusMessage = "FAIL\r\n";
\r
594 ulLastRegTest4Value = *pulOverlaidCounter4;
\r
596 /**** Print pcStatusMessage here. ****/
\r
597 ( void ) pcStatusMessage;
\r
599 /* The cycle count can be viewed updating in the Keil watch
\r
600 window if ITM printf is not being used. */
\r
605 /* Something unexpected happened. Delete this task so the
\r
606 error is apparent (no output will be displayed). */
\r
612 /*-----------------------------------------------------------*/
\r
614 static void prvTestMemoryRegions( void )
\r
619 /* The check task (from which this function is called) is created in the
\r
620 Privileged mode. The privileged array can be both read from and written
\r
621 to while this task is privileged. */
\r
622 cPrivilegedOnlyAccessArray[ 0 ] = 'a';
\r
623 if( cPrivilegedOnlyAccessArray[ 0 ] != 'a' )
\r
625 /* Something unexpected happened. Delete this task so the error is
\r
626 apparent (no output will be displayed). */
\r
630 /* Writing off the end of the RAM allocated to this task will *NOT* cause a
\r
631 protection fault because the task is still executing in a privileged mode.
\r
632 Uncomment the following to test. */
\r
633 /*cPrivilegedOnlyAccessArray[ mainPRIVILEGED_ONLY_ACCESS_ALIGN_SIZE ] = 'a';*/
\r
635 /* Now set the task into user mode. */
\r
636 portSWITCH_TO_USER_MODE();
\r
638 /* Accessing the privileged only array will now cause a fault. Uncomment
\r
639 the following line to test. */
\r
640 /*cPrivilegedOnlyAccessArray[ 0 ] = 'a';*/
\r
642 /* The read/write array can still be successfully read and written. */
\r
643 for( x = 0; x < mainREAD_WRITE_ALIGN_SIZE; x++ )
\r
645 cReadWriteArray[ x ] = 'a';
\r
646 if( cReadWriteArray[ x ] != 'a' )
\r
648 /* Something unexpected happened. Delete this task so the error is
\r
649 apparent (no output will be displayed). */
\r
654 /* But attempting to read or write off the end of the RAM allocated to this
\r
655 task will cause a fault. Uncomment either of the following two lines to
\r
657 /* cReadWriteArray[ 0 ] = cReadWriteArray[ -1 ]; */
\r
658 /* cReadWriteArray[ mainREAD_WRITE_ALIGN_SIZE ] = 0x00; */
\r
660 /* The read only array can be successfully read... */
\r
661 for( x = 0; x < mainREAD_ONLY_ALIGN_SIZE; x++ )
\r
663 cTemp = cReadOnlyArray[ x ];
\r
666 /* ...but cannot be written. Uncomment the following line to test. */
\r
667 /* cReadOnlyArray[ 0 ] = 'a'; */
\r
669 /* Writing to the first and last locations in the stack array should not
\r
670 cause a protection fault. Note that doing this will cause the kernel to
\r
671 detect a stack overflow if configCHECK_FOR_STACK_OVERFLOW is greater than
\r
672 1, hence the test is commented out by default. */
\r
673 /* xCheckTaskStack[ 0 ] = 0;
\r
674 xCheckTaskStack[ mainCHECK_TASK_STACK_SIZE_WORDS - 1 ] = 0; */
\r
676 /* Writing off either end of the stack array should cause a protection
\r
677 fault, uncomment either of the following two lines to test. */
\r
678 /* xCheckTaskStack[ -1 ] = 0; */
\r
679 /* xCheckTaskStack[ mainCHECK_TASK_STACK_SIZE_WORDS ] = 0; */
\r
683 /*-----------------------------------------------------------*/
\r
685 static void prvExerciseEventGroupAPI( void )
\r
687 EventGroupHandle_t xEventGroup;
\r
688 StaticEventGroup_t xEventGroupBuffer;
\r
690 const EventBits_t xBitsToWaitFor = ( EventBits_t ) 0xff, xBitToClear = ( EventBits_t ) 0x01;
\r
692 /* Exercise some event group functions. */
\r
693 xEventGroup = xEventGroupCreateStatic( &xEventGroupBuffer );
\r
694 configASSERT( xEventGroup );
\r
696 /* No bits should be set. */
\r
697 xBits = xEventGroupWaitBits( xEventGroup, xBitsToWaitFor, pdTRUE, pdFALSE, mainDONT_BLOCK );
\r
698 configASSERT( xBits == ( EventBits_t ) 0 );
\r
700 /* Set bits and read back to ensure the bits were set. */
\r
701 xEventGroupSetBits( xEventGroup, xBitsToWaitFor );
\r
702 xBits = xEventGroupGetBits( xEventGroup );
\r
703 configASSERT( xBits == xBitsToWaitFor );
\r
705 /* Clear a bit and read back again using a different API function. */
\r
706 xEventGroupClearBits( xEventGroup, xBitToClear );
\r
707 xBits = xEventGroupSync( xEventGroup, 0x00, xBitsToWaitFor, mainDONT_BLOCK );
\r
708 configASSERT( xBits == ( xBitsToWaitFor & ~xBitToClear ) );
\r
710 /* Finished with the event group. */
\r
711 vEventGroupDelete( xEventGroup );
\r
713 /*-----------------------------------------------------------*/
\r
715 static void prvExerciseSemaphoreAPI( void )
\r
717 SemaphoreHandle_t xSemaphore;
\r
718 StaticSemaphore_t xSemaphoreBuffer;
\r
719 const UBaseType_t uxMaxCount = 5, uxInitialCount = 0;
\r
721 /* Most of the semaphore API is common to the queue API and is already being
\r
722 used. This function uses a few semaphore functions that are unique to the
\r
723 RTOS objects, rather than generic and used by queues also.
\r
725 First create and use a counting semaphore. */
\r
726 xSemaphore = xSemaphoreCreateCountingStatic( uxMaxCount, uxInitialCount, &xSemaphoreBuffer );
\r
727 configASSERT( xSemaphore );
\r
729 /* Give the semaphore a couple of times and ensure the count is returned
\r
731 xSemaphoreGive( xSemaphore );
\r
732 xSemaphoreGive( xSemaphore );
\r
733 configASSERT( uxSemaphoreGetCount( xSemaphore ) == 2 );
\r
734 vSemaphoreDelete( xSemaphore );
\r
736 /* Create a recursive mutex, and ensure the mutex holder and count are
\r
737 returned returned correctly. */
\r
738 xSemaphore = xSemaphoreCreateRecursiveMutexStatic( &xSemaphoreBuffer );
\r
739 configASSERT( uxSemaphoreGetCount( xSemaphore ) == 1 );
\r
740 configASSERT( xSemaphore );
\r
741 xSemaphoreTakeRecursive( xSemaphore, mainDONT_BLOCK );
\r
742 xSemaphoreTakeRecursive( xSemaphore, mainDONT_BLOCK );
\r
743 configASSERT( xSemaphoreGetMutexHolder( xSemaphore ) == xTaskGetCurrentTaskHandle() );
\r
744 configASSERT( xSemaphoreGetMutexHolder( xSemaphore ) == xTaskGetHandle( mainTASK_TO_DELETE_NAME ) );
\r
745 xSemaphoreGiveRecursive( xSemaphore );
\r
746 configASSERT( uxSemaphoreGetCount( xSemaphore ) == 0 );
\r
747 xSemaphoreGiveRecursive( xSemaphore );
\r
748 configASSERT( uxSemaphoreGetCount( xSemaphore ) == 1 );
\r
749 configASSERT( xSemaphoreGetMutexHolder( xSemaphore ) == NULL );
\r
750 vSemaphoreDelete( xSemaphore );
\r
752 /* Create a normal mutex, and sure the mutex holder and count are returned
\r
753 returned correctly. */
\r
754 xSemaphore = xSemaphoreCreateMutexStatic( &xSemaphoreBuffer );
\r
755 configASSERT( xSemaphore );
\r
756 xSemaphoreTake( xSemaphore, mainDONT_BLOCK );
\r
757 xSemaphoreTake( xSemaphore, mainDONT_BLOCK );
\r
758 configASSERT( uxSemaphoreGetCount( xSemaphore ) == 0 ); /* Not recursive so can only be 1. */
\r
759 configASSERT( xSemaphoreGetMutexHolder( xSemaphore ) == xTaskGetCurrentTaskHandle() );
\r
760 xSemaphoreGive( xSemaphore );
\r
761 configASSERT( uxSemaphoreGetCount( xSemaphore ) == 1 );
\r
762 configASSERT( xSemaphoreGetMutexHolder( xSemaphore ) == NULL );
\r
763 vSemaphoreDelete( xSemaphore );
\r
765 /*-----------------------------------------------------------*/
\r
767 static void prvExerciseTaskNotificationAPI( void )
\r
769 uint32_t ulNotificationValue;
\r
770 BaseType_t xReturned;
\r
772 /* The task should not yet have a notification pending. */
\r
773 xReturned = xTaskNotifyWait( 0, 0, &ulNotificationValue, mainDONT_BLOCK );
\r
774 configASSERT( xReturned == pdFAIL );
\r
775 configASSERT( ulNotificationValue == 0UL );
\r
777 /* Exercise the 'give' and 'take' versions of the notification API. */
\r
778 xTaskNotifyGive( xTaskGetCurrentTaskHandle() );
\r
779 xTaskNotifyGive( xTaskGetCurrentTaskHandle() );
\r
780 ulNotificationValue = ulTaskNotifyTake( pdTRUE, mainDONT_BLOCK );
\r
781 configASSERT( ulNotificationValue == 2 );
\r
783 /* Exercise the 'notify' and 'clear' API. */
\r
784 ulNotificationValue = 20;
\r
785 xTaskNotify( xTaskGetCurrentTaskHandle(), ulNotificationValue, eSetValueWithOverwrite );
\r
786 ulNotificationValue = 0;
\r
787 xReturned = xTaskNotifyWait( 0, 0, &ulNotificationValue, mainDONT_BLOCK );
\r
788 configASSERT( xReturned == pdPASS );
\r
789 configASSERT( ulNotificationValue == 20 );
\r
790 xTaskNotify( xTaskGetCurrentTaskHandle(), ulNotificationValue, eSetValueWithOverwrite );
\r
791 xReturned = xTaskNotifyStateClear( NULL );
\r
792 configASSERT( xReturned == pdTRUE ); /* First time a notification was pending. */
\r
793 xReturned = xTaskNotifyStateClear( NULL );
\r
794 configASSERT( xReturned == pdFALSE ); /* Second time the notification was already clear. */
\r
796 /*-----------------------------------------------------------*/
\r
798 static void prvTaskToDelete( void *pvParameters )
\r
800 /* Remove compiler warnings about unused parameters. */
\r
801 ( void ) pvParameters;
\r
803 /* Check the enter and exit critical macros are working correctly. If the
\r
804 SVC priority is below configMAX_SYSCALL_INTERRUPT_PRIORITY then this will
\r
806 taskENTER_CRITICAL();
\r
807 taskEXIT_CRITICAL();
\r
809 /* Exercise the API of various RTOS objects. */
\r
810 prvExerciseEventGroupAPI();
\r
811 prvExerciseSemaphoreAPI();
\r
812 prvExerciseTaskNotificationAPI();
\r
814 /* For code coverage test purposes it is deleted by the Idle task. */
\r
815 configASSERT( uxTaskGetStackHighWaterMark( NULL ) > 0 );
\r
816 vTaskSuspend( NULL );
\r
818 /*-----------------------------------------------------------*/
\r
820 void vApplicationIdleHook( void )
\r
822 volatile const uint32_t *pul;
\r
823 volatile uint32_t ulReadData;
\r
825 /* The idle task, and therefore this function, run in Supervisor mode and
\r
826 can therefore access all memory. Try reading from corners of flash and
\r
827 RAM to ensure a memory fault does not occur.
\r
829 Start with the edges of the privileged data area. */
\r
830 pul = __privileged_data_start__;
\r
832 pul = __privileged_data_end__ - 1;
\r
835 /* Next the standard SRAM area. */
\r
836 pul = __SRAM_segment_end__ - 1;
\r
839 /* And the standard Flash area - the start of which is marked for
\r
840 privileged access only. */
\r
841 pul = __FLASH_segment_start__;
\r
843 pul = __FLASH_segment_end__ - 1;
\r
846 /* Reading off the end of Flash or SRAM space should cause a fault.
\r
847 Uncomment one of the following two pairs of lines to test. */
\r
849 /* pul = __FLASH_segment_end__ + 4;
\r
850 ulReadData = *pul; */
\r
852 /* pul = __SRAM_segment_end__ + 1;
\r
853 ulReadData = *pul; */
\r
855 /* One task is created purely so it can be deleted - done for code coverage
\r
857 if( xTaskToDelete != NULL )
\r
859 vTaskDelete( xTaskToDelete );
\r
860 xTaskToDelete = NULL;
\r
863 ( void ) ulReadData;
\r
865 /*-----------------------------------------------------------*/
\r
867 static void prvOldStyleUserModeTask( void *pvParameters )
\r
869 /*const volatile uint32_t *pulStandardPeripheralRegister = ( volatile uint32_t * ) 0x40000000;*/
\r
870 volatile const uint32_t *pul;
\r
871 volatile uint32_t ulReadData;
\r
873 /* The following lines are commented out to prevent the unused variable
\r
874 compiler warnings when the tests that use the variable are also commented out. */
\r
875 /* extern uint32_t __privileged_functions_start__[]; */
\r
876 /* const volatile uint32_t *pulSystemPeripheralRegister = ( volatile uint32_t * ) 0xe000e014; */
\r
878 ( void ) pvParameters;
\r
880 /* This task is created in User mode using the original xTaskCreate() API
\r
881 function. It should have access to all Flash and RAM except that marked
\r
882 as Privileged access only. Reading from the start and end of the non-
\r
883 privileged RAM should not cause a problem (the privileged RAM is the first
\r
884 block at the bottom of the RAM memory). */
\r
885 pul = __privileged_data_end__ + 1;
\r
887 pul = __SRAM_segment_end__ - 1;
\r
890 /* Likewise reading from the start and end of the non-privileged Flash
\r
891 should not be a problem (the privileged Flash is the first block at the
\r
892 bottom of the Flash memory). */
\r
893 pul = __privileged_functions_end__ + 1;
\r
895 pul = __FLASH_segment_end__ - 1;
\r
898 /* Standard peripherals are accessible. */
\r
899 /*ulReadData = *pulStandardPeripheralRegister;*/
\r
901 /* System peripherals are not accessible. Uncomment the following line
\r
902 to test. Also uncomment the declaration of pulSystemPeripheralRegister
\r
903 at the top of this function.
\r
904 ulReadData = *pulSystemPeripheralRegister; */
\r
906 /* Reading from anywhere inside the privileged Flash or RAM should cause a
\r
907 fault. This can be tested by uncommenting any of the following pairs of
\r
908 lines. Also uncomment the declaration of __privileged_functions_start__
\r
909 at the top of this function. */
\r
911 /*pul = __privileged_functions_start__;
\r
912 ulReadData = *pul;*/
\r
914 /*pul = __privileged_functions_end__ - 1;
\r
915 ulReadData = *pul;*/
\r
917 /*pul = __privileged_data_start__;
\r
918 ulReadData = *pul;*/
\r
920 /*pul = __privileged_data_end__ - 1;
\r
921 ulReadData = *pul;*/
\r
923 /* Must not just run off the end of a task function, so delete this task.
\r
924 Note that because this task was created using xTaskCreate() the stack was
\r
925 allocated dynamically and I have not included any code to free it again. */
\r
926 vTaskDelete( NULL );
\r
928 ( void ) ulReadData;
\r
930 /*-----------------------------------------------------------*/
\r
932 static void prvOldStylePrivilegedModeTask( void *pvParameters )
\r
934 volatile const uint32_t *pul;
\r
935 volatile uint32_t ulReadData;
\r
936 const volatile uint32_t *pulSystemPeripheralRegister = ( volatile uint32_t * ) 0xe000e014; /* Systick */
\r
937 /*const volatile uint32_t *pulStandardPeripheralRegister = ( volatile uint32_t * ) 0x40000000;*/
\r
939 ( void ) pvParameters;
\r
941 /* This task is created in Privileged mode using the original xTaskCreate()
\r
942 API function. It should have access to all Flash and RAM including that
\r
943 marked as Privileged access only. So reading from the start and end of the
\r
944 non-privileged RAM should not cause a problem (the privileged RAM is the
\r
945 first block at the bottom of the RAM memory). */
\r
946 pul = __privileged_data_end__ + 1;
\r
948 pul = __SRAM_segment_end__ - 1;
\r
951 /* Likewise reading from the start and end of the non-privileged Flash
\r
952 should not be a problem (the privileged Flash is the first block at the
\r
953 bottom of the Flash memory). */
\r
954 pul = __privileged_functions_end__ + 1;
\r
956 pul = __FLASH_segment_end__ - 1;
\r
959 /* Reading from anywhere inside the privileged Flash or RAM should also
\r
960 not be a problem. */
\r
961 pul = __privileged_functions_start__;
\r
963 pul = __privileged_functions_end__ - 1;
\r
965 pul = __privileged_data_start__;
\r
967 pul = __privileged_data_end__ - 1;
\r
970 /* Finally, accessing both System and normal peripherals should both be
\r
972 ulReadData = *pulSystemPeripheralRegister;
\r
973 /*ulReadData = *pulStandardPeripheralRegister;*/
\r
975 /* Must not just run off the end of a task function, so delete this task.
\r
976 Note that because this task was created using xTaskCreate() the stack was
\r
977 allocated dynamically and I have not included any code to free it again. */
\r
978 vTaskDelete( NULL );
\r
980 ( void ) ulReadData;
\r
982 /*-----------------------------------------------------------*/
\r
984 void vMainDeleteMe( void )
\r
986 vTaskDelete( NULL );
\r
988 /*-----------------------------------------------------------*/
\r
990 void vMainSendImAlive( QueueHandle_t xHandle, uint32_t ulTaskNumber )
\r
992 if( xHandle != NULL )
\r
994 xQueueSend( xHandle, &ulTaskNumber, mainDONT_BLOCK );
\r
997 /*-----------------------------------------------------------*/
\r
999 static void prvSetupHardware( void )
\r
1002 /*-----------------------------------------------------------*/
\r
1004 void vApplicationTickHook( void )
\r
1006 static uint32_t ulCallCount = 0;
\r
1007 const uint32_t ulCallsBetweenSends = pdMS_TO_TICKS( 1000 );
\r
1008 const uint32_t ulMessage = configPRINT_SYSTEM_STATUS;
\r
1009 portBASE_TYPE xDummy;
\r
1011 /* If configUSE_TICK_HOOK is set to 1 then this function will get called
\r
1012 from each RTOS tick. It is called from the tick interrupt and therefore
\r
1013 will be executing in the privileged state. */
\r
1017 /* Is it time to print out the pass/fail message again? */
\r
1018 if( ulCallCount >= ulCallsBetweenSends )
\r
1022 /* Send a message to the check task to command it to check that all
\r
1023 the tasks are still running then print out the status.
\r
1025 This is running in an ISR so has to use the "FromISR" version of
\r
1026 xQueueSend(). Because it is in an ISR it is running with privileges
\r
1027 so can access xGlobalScopeCheckQueue directly. */
\r
1028 xQueueSendFromISR( xGlobalScopeCheckQueue, &ulMessage, &xDummy );
\r
1031 /*-----------------------------------------------------------*/
\r
1033 void vApplicationStackOverflowHook( TaskHandle_t pxTask, char *pcTaskName )
\r
1035 /* If configCHECK_FOR_STACK_OVERFLOW is set to either 1 or 2 then this
\r
1036 function will automatically get called if a task overflows its stack. */
\r
1038 ( void ) pcTaskName;
\r
1041 /*-----------------------------------------------------------*/
\r
1043 void vApplicationMallocFailedHook( void )
\r
1045 /* If configUSE_MALLOC_FAILED_HOOK is set to 1 then this function will
\r
1046 be called automatically if a call to pvPortMalloc() fails. pvPortMalloc()
\r
1047 is called automatically when a task, queue or semaphore is created. */
\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 /* Let the check task know the timer is still running. */
\r
1065 vMainSendImAlive( xGlobalScopeCheckQueue, configTIMER_STILL_EXECUTING );
\r
1067 /*-----------------------------------------------------------*/
\r
1069 /* configUSE_STATIC_ALLOCATION is set to 1, so the application must provide an
\r
1070 implementation of vApplicationGetIdleTaskMemory() to provide the memory that is
\r
1071 used by the Idle task. */
\r
1072 void vApplicationGetIdleTaskMemory( StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize )
\r
1074 /* If the buffers to be provided to the Idle task are declared inside this
\r
1075 function then they must be declared static - otherwise they will be allocated on
\r
1076 the stack and so not exists after this function exits. */
\r
1077 static StaticTask_t xIdleTaskTCB;
\r
1078 static StackType_t uxIdleTaskStack[ configMINIMAL_STACK_SIZE ];
\r
1080 /* Pass out a pointer to the StaticTask_t structure in which the Idle task's
\r
1081 state will be stored. */
\r
1082 *ppxIdleTaskTCBBuffer = &xIdleTaskTCB;
\r
1084 /* Pass out the array that will be used as the Idle task's stack. */
\r
1085 *ppxIdleTaskStackBuffer = uxIdleTaskStack;
\r
1087 /* Pass out the size of the array pointed to by *ppxIdleTaskStackBuffer.
\r
1088 Note that, as the array is necessarily of type StackType_t,
\r
1089 configMINIMAL_STACK_SIZE is specified in words, not bytes. */
\r
1090 *pulIdleTaskStackSize = configMINIMAL_STACK_SIZE;
\r
1092 /*-----------------------------------------------------------*/
\r
1094 /* configUSE_STATIC_ALLOCATION and configUSE_TIMERS are both set to 1, so the
\r
1095 application must provide an implementation of vApplicationGetTimerTaskMemory()
\r
1096 to provide the memory that is used by the Timer service task. */
\r
1097 void vApplicationGetTimerTaskMemory( StaticTask_t **ppxTimerTaskTCBBuffer, StackType_t **ppxTimerTaskStackBuffer, uint32_t *pulTimerTaskStackSize )
\r
1099 /* If the buffers to be provided to the Timer task are declared inside this
\r
1100 function then they must be declared static - otherwise they will be allocated on
\r
1101 the stack and so not exists after this function exits. */
\r
1102 static StaticTask_t xTimerTaskTCB;
\r
1103 static StackType_t uxTimerTaskStack[ configTIMER_TASK_STACK_DEPTH ];
\r
1105 /* Pass out a pointer to the StaticTask_t structure in which the Timer
\r
1106 task's state will be stored. */
\r
1107 *ppxTimerTaskTCBBuffer = &xTimerTaskTCB;
\r
1109 /* Pass out the array that will be used as the Timer task's stack. */
\r
1110 *ppxTimerTaskStackBuffer = uxTimerTaskStack;
\r
1112 /* Pass out the size of the array pointed to by *ppxTimerTaskStackBuffer.
\r
1113 Note that, as the array is necessarily of type StackType_t,
\r
1114 configMINIMAL_STACK_SIZE is specified in words, not bytes. */
\r
1115 *pulTimerTaskStackSize = configTIMER_TASK_STACK_DEPTH;
\r
1117 /*-----------------------------------------------------------*/
\r
1119 static void prvRegTest3Task( void *pvParameters )
\r
1121 /* Although the regtest task is written in assembler, its entry point is
\r
1122 written in C for convenience of checking the task parameter is being passed
\r
1124 if( pvParameters == configREG_TEST_TASK_3_PARAMETER )
\r
1126 /* Start the part of the test that is written in assembler. */
\r
1127 vRegTest3Implementation();
\r
1130 /* The following line will only execute if the task parameter is found to
\r
1131 be incorrect. The check task will detect that the regtest loop counter is
\r
1132 not being incremented and flag an error. */
\r
1133 vTaskDelete( NULL );
\r
1135 /*-----------------------------------------------------------*/
\r
1137 static void prvRegTest4Task( void *pvParameters )
\r
1139 /* Although the regtest task is written in assembler, its entry point is
\r
1140 written in C for convenience of checking the task parameter is being passed
\r
1142 if( pvParameters == configREG_TEST_TASK_4_PARAMETER )
\r
1144 /* Start the part of the test that is written in assembler. */
\r
1145 vRegTest4Implementation();
\r
1148 /* The following line will only execute if the task parameter is found to
\r
1149 be incorrect. The check task will detect that the regtest loop counter is
\r
1150 not being incremented and flag an error. */
\r
1151 vTaskDelete( NULL );
\r
1153 /*-----------------------------------------------------------*/
\r
projects / freertos / blob