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jeremybenn |
/*
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FreeRTOS V6.1.1 - Copyright (C) 2011 Real Time Engineers Ltd.
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***************************************************************************
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* *
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* If you are: *
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* *
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* + New to FreeRTOS, *
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* + Wanting to learn FreeRTOS or multitasking in general quickly *
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* + Looking for basic training, *
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* + Wanting to improve your FreeRTOS skills and productivity *
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* *
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* then take a look at the FreeRTOS books - available as PDF or paperback *
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* *
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* "Using the FreeRTOS Real Time Kernel - a Practical Guide" *
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* http://www.FreeRTOS.org/Documentation *
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* *
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* A pdf reference manual is also available. Both are usually delivered *
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* to your inbox within 20 minutes to two hours when purchased between 8am *
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* and 8pm GMT (although please allow up to 24 hours in case of *
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* exceptional circumstances). Thank you for your support! *
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* *
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***************************************************************************
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This file is part of the FreeRTOS distribution.
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FreeRTOS is free software; you can redistribute it and/or modify it under
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the terms of the GNU General Public License (version 2) as published by the
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Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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***NOTE*** The exception to the GPL is included to allow you to distribute
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a combined work that includes FreeRTOS without being obliged to provide the
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source code for proprietary components outside of the FreeRTOS kernel.
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FreeRTOS is distributed in the hope that it will be useful, but WITHOUT
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ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
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FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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more details. You should have received a copy of the GNU General Public
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License and the FreeRTOS license exception along with FreeRTOS; if not it
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can be viewed here: http://www.freertos.org/a00114.html and also obtained
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by writing to Richard Barry, contact details for whom are available on the
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FreeRTOS WEB site.
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1 tab == 4 spaces!
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http://www.FreeRTOS.org - Documentation, latest information, license and
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contact details.
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http://www.SafeRTOS.com - A version that is certified for use in safety
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critical systems.
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http://www.OpenRTOS.com - Commercial support, development, porting,
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licensing and training services.
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*/
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/*
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* This file demonstrates the use of FreeRTOS-MPU. It creates tasks in both
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* User mode and Privileged mode, and using both the original xTaskCreate() and
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* the new xTaskCreateRestricted() API functions. The purpose of each created
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* task is documented in the comments above the task function prototype (in
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* this file), with the task behaviour demonstrated and documented within the
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* task function itself. In addition a queue is used to demonstrate passing
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* data between protected/restricted tasks as well as passing data between an
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* interrupt and a protected/restricted task.
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*/
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/* Standard includes. */
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#include <string.h>
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#include <__cross_studio_io.h>
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/* Scheduler includes. */
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#include "FreeRTOS.h"
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#include "task.h"
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#include "queue.h"
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#include "semphr.h"
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/* Hardware library includes. */
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#include "hw_types.h"
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#include "hw_sysctl.h"
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#include "sysctl.h"
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/*-----------------------------------------------------------*/
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/* Misc constants. */
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#define mainDONT_BLOCK ( 0 )
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/* Definitions for the messages that can be sent to the check task. */
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#define mainREG_TEST_1_STILL_EXECUTING ( 0 )
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#define mainREG_TEST_2_STILL_EXECUTING ( 1 )
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#define mainPRINT_SYSTEM_STATUS ( 2 )
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/* GCC specifics. */
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#define mainALIGN_TO( x ) __attribute__((aligned(x)))
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/*-----------------------------------------------------------*/
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/* Prototypes for functions that implement tasks. -----------*/
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/*-----------------------------------------------------------*/
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/*
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* Prototype for the reg test tasks. Amongst other things, these fill the CPU
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* registers with known values before checking that the registers still contain
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* the expected values. Each of the two tasks use different values so an error
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* in the context switch mechanism can be caught. Both reg test tasks execute
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* at the idle priority so will get preempted regularly. Each task repeatedly
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* sends a message on a queue so long as it remains functioning correctly. If
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* an error is detected within the task the task is simply deleted.
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*/
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static void prvRegTest1Task( void *pvParameters );
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static void prvRegTest2Task( void *pvParameters );
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/*
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* Prototype for the check task. The check task demonstrates various features
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* of the MPU before entering a loop where it waits for messages to arrive on a
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* queue.
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*
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* Two types of messages can be processes:
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*
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* 1) "I'm Alive" messages sent from the reg test tasks, indicating that the
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* task is still operational.
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*
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* 2) "Print Status commands" sent periodically by the tick hook function (and
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* therefore from within an interrupt) which command the check task to write
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* either pass or fail to the terminal, depending on the status of the reg
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* test tasks.
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*/
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static void prvCheckTask( void *pvParameters );
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/*
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* Prototype for a task created in User mode using the original vTaskCreate()
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* API function. The task demonstrates the characteristics of such a task,
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* before simply deleting itself.
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*/
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static void prvOldStyleUserModeTask( void *pvParameters );
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/*
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* Prototype for a task created in Privileged mode using the original
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* vTaskCreate() API function. The task demonstrates the characteristics of
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* such a task, before simply deleting itself.
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*/
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static void prvOldStylePrivilegedModeTask( void *pvParameters );
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/*-----------------------------------------------------------*/
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/* Prototypes for other misc functions. --------------------*/
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/*-----------------------------------------------------------*/
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/*
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* Just configures any clocks and IO necessary.
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*/
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static void prvSetupHardware( void );
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/*
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* Simply deletes the calling task. The function is provided only because it
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* is simpler to call from asm code than the normal vTaskDelete() API function.
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* It has the noinline attribute because it is called from asm code.
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*/
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static void prvDeleteMe( void ) __attribute__((noinline));
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/*
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* Used by both reg test tasks to send messages to the check task. The message
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* just lets the check task know that the task is still functioning correctly.
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* If a reg test task detects an error it will delete itself, and in so doing
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* prevent itself from sending any more 'I'm Alive' messages to the check task.
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*/
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static void prvSendImAlive( xQueueHandle xHandle, unsigned long ulTaskNumber );
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/*
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* The check task is created with access to three memory regions (plus its
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* stack). Each memory region is configured with different parameters and
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* prvTestMemoryRegions() demonstrates what can and cannot be accessed for each
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* region. prvTestMemoryRegions() also demonstrates a task that was created
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* as a privileged task settings its own privilege level down to that of a user
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* task.
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*/
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static void prvTestMemoryRegions( void );
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/*-----------------------------------------------------------*/
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/* The handle of the queue used to communicate between tasks and between tasks
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and interrupts. Note that this is a file scope variable that falls outside of
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any MPU region. As such other techniques have to be used to allow the tasks
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to gain access to the queue. See the comments in the tasks themselves for
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further information. */
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static xQueueHandle xFileScopeCheckQueue = NULL;
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/*-----------------------------------------------------------*/
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/* Data used by the 'check' task. ---------------------------*/
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/*-----------------------------------------------------------*/
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/* Define the constants used to allocate the check task stack. Note that the
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stack size is defined in words, not bytes. */
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#define mainCHECK_TASK_STACK_SIZE_WORDS 128
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#define mainCHECK_TASK_STACK_ALIGNMENT ( mainCHECK_TASK_STACK_SIZE_WORDS * sizeof( portSTACK_TYPE ) )
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/* Declare the stack that will be used by the check task. The kernel will
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automatically create an MPU region for the stack. The stack alignment must
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match its size, so if 128 words are reserved for the stack then it must be
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aligned to ( 128 * 4 ) bytes. */
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static portSTACK_TYPE xCheckTaskStack[ mainCHECK_TASK_STACK_SIZE_WORDS ] mainALIGN_TO( mainCHECK_TASK_STACK_ALIGNMENT );
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/* Declare three arrays - an MPU region will be created for each array
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using the xTaskParameters structure below. THIS IS JUST TO DEMONSTRATE THE
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MPU FUNCTIONALITY, the data is not used by the check tasks primary function
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of monitoring the reg test tasks and printing out status information.
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Note that the arrays allocate slightly more RAM than is actually assigned to
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the MPU region. This is to permit writes off the end of the array to be
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detected even when the arrays are placed in adjacent memory locations (with no
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gaps between them). The align size must be a power of two. */
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#define mainREAD_WRITE_ARRAY_SIZE 130
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#define mainREAD_WRITE_ALIGN_SIZE 128
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char cReadWriteArray[ mainREAD_WRITE_ARRAY_SIZE ] mainALIGN_TO( mainREAD_WRITE_ALIGN_SIZE );
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#define mainREAD_ONLY_ARRAY_SIZE 260
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#define mainREAD_ONLY_ALIGN_SIZE 256
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char cReadOnlyArray[ mainREAD_ONLY_ARRAY_SIZE ] mainALIGN_TO( mainREAD_ONLY_ALIGN_SIZE );
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#define mainPRIVILEGED_ONLY_ACCESS_ARRAY_SIZE 130
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#define mainPRIVILEGED_ONLY_ACCESS_ALIGN_SIZE 128
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char cPrivilegedOnlyAccessArray[ mainPRIVILEGED_ONLY_ACCESS_ALIGN_SIZE ] mainALIGN_TO( mainPRIVILEGED_ONLY_ACCESS_ALIGN_SIZE );
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/* Fill in a xTaskParameters structure to define the check task - this is the
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structure passed to the xTaskCreateRestricted() function. */
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static const xTaskParameters xCheckTaskParameters =
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{
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prvCheckTask, /* pvTaskCode - the function that implements the task. */
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( signed char * ) "Check", /* pcName */
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mainCHECK_TASK_STACK_SIZE_WORDS, /* usStackDepth - defined in words, not bytes. */
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( void * ) 0x12121212, /* pvParameters - this value is just to test that the parameter is being passed into the task correctly. */
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( 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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xCheckTaskStack, /* puxStackBuffer - the array to use as the task stack, as declared above. */
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/* xRegions - In this case the xRegions array is used to create MPU regions
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for all three of the arrays declared directly above. Each MPU region is
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created with different parameters. Again, THIS IS JUST TO DEMONSTRATE THE
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MPU FUNCTIONALITY, the data is not used by the check tasks primary function
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of monitoring the reg test tasks and printing out status information.*/
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{
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/* Base address Length Parameters */
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{ cReadWriteArray, mainREAD_WRITE_ALIGN_SIZE, portMPU_REGION_READ_WRITE },
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{ cReadOnlyArray, mainREAD_ONLY_ALIGN_SIZE, portMPU_REGION_READ_ONLY },
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{ cPrivilegedOnlyAccessArray, mainPRIVILEGED_ONLY_ACCESS_ALIGN_SIZE, portMPU_REGION_PRIVILEGED_READ_WRITE }
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}
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};
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/* Three MPU regions are defined for use by the 'check' task when the task is
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created. These are only used to demonstrate the MPU features and are not
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actually necessary for the check task to fulfill its primary purpose. Instead
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the MPU regions are replaced with those defined by xAltRegions prior to the
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check task receiving any data on the queue or printing any messages to the
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debug console. The region configured by xAltRegions just gives the check task
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access to the debug variables that form part of the Rowley library, and are
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accessed within the debug_printf() function. */
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extern unsigned long dbgCntrlWord_mempoll;
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static const xMemoryRegion xAltRegions[ portNUM_CONFIGURABLE_REGIONS ] =
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{
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/* Base address Length Parameters */
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{ ( void * ) &dbgCntrlWord_mempoll, 32, portMPU_REGION_READ_WRITE },
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{ 0, 0, 0 },
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{ 0, 0, 0 }
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};
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/*-----------------------------------------------------------*/
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/* Data used by the 'reg test' tasks. -----------------------*/
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/*-----------------------------------------------------------*/
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/* Define the constants used to allocate the reg test task stacks. Note that
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that stack size is defined in words, not bytes. */
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#define mainREG_TEST_STACK_SIZE_WORDS 128
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#define mainREG_TEST_STACK_ALIGNMENT ( mainREG_TEST_STACK_SIZE_WORDS * sizeof( portSTACK_TYPE ) )
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/* Declare the stacks that will be used by the reg test tasks. The kernel will
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automatically create an MPU region for the stack. The stack alignment must
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match its size, so if 128 words are reserved for the stack then it must be
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aligned to ( 128 * 4 ) bytes. */
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static portSTACK_TYPE xRegTest1Stack[ mainREG_TEST_STACK_SIZE_WORDS ] mainALIGN_TO( mainREG_TEST_STACK_ALIGNMENT );
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static portSTACK_TYPE xRegTest2Stack[ mainREG_TEST_STACK_SIZE_WORDS ] mainALIGN_TO( mainREG_TEST_STACK_ALIGNMENT );
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/* Fill in a xTaskParameters structure per reg test task to define the tasks. */
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static const xTaskParameters xRegTest1Parameters =
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{
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prvRegTest1Task, /* pvTaskCode - the function that implements the task. */
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( signed char * ) "RegTest1", /* pcName */
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mainREG_TEST_STACK_SIZE_WORDS, /* usStackDepth */
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( void * ) 0x12345678, /* pvParameters - this value is just to test that the parameter is being passed into the task correctly. */
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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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xRegTest1Stack, /* puxStackBuffer - the array to use as the task stack, as declared above. */
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{ /* xRegions - this task does not use any non-stack data hence all members are zero. */
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/* Base address Length Parameters */
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{ 0x00, 0x00, 0x00 },
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{ 0x00, 0x00, 0x00 },
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{ 0x00, 0x00, 0x00 }
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}
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};
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/*-----------------------------------------------------------*/
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static xTaskParameters xRegTest2Parameters =
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{
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prvRegTest2Task, /* pvTaskCode - the function that implements the task. */
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( signed char * ) "RegTest2", /* pcName */
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mainREG_TEST_STACK_SIZE_WORDS, /* usStackDepth */
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( 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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tskIDLE_PRIORITY, /* uxPriority */
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|
|
xRegTest2Stack, /* puxStackBuffer - the array to use as the task stack, as declared above. */
|
| 310 |
|
|
{ /* xRegions - this task does not use any non-stack data hence all members are zero. */
|
| 311 |
|
|
/* Base address Length Parameters */
|
| 312 |
|
|
{ 0x00, 0x00, 0x00 },
|
| 313 |
|
|
{ 0x00, 0x00, 0x00 },
|
| 314 |
|
|
{ 0x00, 0x00, 0x00 }
|
| 315 |
|
|
}
|
| 316 |
|
|
};
|
| 317 |
|
|
|
| 318 |
|
|
/*-----------------------------------------------------------*/
|
| 319 |
|
|
|
| 320 |
|
|
int main( void )
|
| 321 |
|
|
{
|
| 322 |
|
|
prvSetupHardware();
|
| 323 |
|
|
|
| 324 |
|
|
/* Create the queue used to pass "I'm alive" messages to the check task. */
|
| 325 |
|
|
xFileScopeCheckQueue = xQueueCreate( 1, sizeof( unsigned long ) );
|
| 326 |
|
|
|
| 327 |
|
|
/* One check task uses the task parameter to receive the queue handle.
|
| 328 |
|
|
This allows the file scope variable to be accessed from within the task.
|
| 329 |
|
|
The pvParameters member of xRegTest2Parameters can only be set after the
|
| 330 |
|
|
queue has been created so is set here. */
|
| 331 |
|
|
xRegTest2Parameters.pvParameters = xFileScopeCheckQueue;
|
| 332 |
|
|
|
| 333 |
|
|
/* Create the three test tasks. Handles to the created tasks are not
|
| 334 |
|
|
required, hence the second parameter is NULL. */
|
| 335 |
|
|
xTaskCreateRestricted( &xRegTest1Parameters, NULL );
|
| 336 |
|
|
xTaskCreateRestricted( &xRegTest2Parameters, NULL );
|
| 337 |
|
|
xTaskCreateRestricted( &xCheckTaskParameters, NULL );
|
| 338 |
|
|
|
| 339 |
|
|
/* Create the tasks that are created using the original xTaskCreate() API
|
| 340 |
|
|
function. */
|
| 341 |
|
|
xTaskCreate( prvOldStyleUserModeTask, /* The function that implements the task. */
|
| 342 |
|
|
( signed char * ) "Task1", /* Text name for the task. */
|
| 343 |
|
|
100, /* Stack depth in words. */
|
| 344 |
|
|
NULL, /* Task parameters. */
|
| 345 |
|
|
3, /* Priority and mode (user in this case). */
|
| 346 |
|
|
NULL /* Handle. */
|
| 347 |
|
|
);
|
| 348 |
|
|
|
| 349 |
|
|
xTaskCreate( prvOldStylePrivilegedModeTask, /* The function that implements the task. */
|
| 350 |
|
|
( signed char * ) "Task2", /* Text name for the task. */
|
| 351 |
|
|
100, /* Stack depth in words. */
|
| 352 |
|
|
NULL, /* Task parameters. */
|
| 353 |
|
|
( 3 | portPRIVILEGE_BIT ), /* Priority and mode. */
|
| 354 |
|
|
NULL /* Handle. */
|
| 355 |
|
|
);
|
| 356 |
|
|
|
| 357 |
|
|
/* Start the scheduler. */
|
| 358 |
|
|
vTaskStartScheduler();
|
| 359 |
|
|
|
| 360 |
|
|
/* Will only get here if there was insufficient memory to create the idle
|
| 361 |
|
|
task. */
|
| 362 |
|
|
for( ;; );
|
| 363 |
|
|
return 0;
|
| 364 |
|
|
}
|
| 365 |
|
|
/*-----------------------------------------------------------*/
|
| 366 |
|
|
|
| 367 |
|
|
static void prvCheckTask( void *pvParameters )
|
| 368 |
|
|
{
|
| 369 |
|
|
/* This task is created in privileged mode so can access the file scope
|
| 370 |
|
|
queue variable. Take a stack copy of this before the task is set into user
|
| 371 |
|
|
mode. Once that task is in user mode the file scope queue variable will no
|
| 372 |
|
|
longer be accessible but the stack copy will. */
|
| 373 |
|
|
xQueueHandle xQueue = xFileScopeCheckQueue;
|
| 374 |
|
|
long lMessage;
|
| 375 |
|
|
unsigned long ulStillAliveCounts[ 2 ] = { 0 };
|
| 376 |
|
|
const char *pcStatusMessage = "PASS\r\n";
|
| 377 |
|
|
|
| 378 |
|
|
/* Just to remove compiler warning. */
|
| 379 |
|
|
( void ) pvParameters;
|
| 380 |
|
|
|
| 381 |
|
|
/* Print out the amount of free heap space so configTOTAL_HEAP_SIZE can be
|
| 382 |
|
|
tuned. The heap size is set to be very small in this example and will need
|
| 383 |
|
|
to be increased before many more tasks, queues or semaphores can be
|
| 384 |
|
|
created. */
|
| 385 |
|
|
debug_printf( "There are %d bytes of unused heap space.\r\n", xPortGetFreeHeapSize() );
|
| 386 |
|
|
|
| 387 |
|
|
/* Demonstrate how the various memory regions can and can't be accessed.
|
| 388 |
|
|
The task privilege level is set down to user mode within this function. */
|
| 389 |
|
|
prvTestMemoryRegions();
|
| 390 |
|
|
|
| 391 |
|
|
/* Change the memory regions allocated to this task to those initially
|
| 392 |
|
|
set up for demonstration purposes to those actually required by the task. */
|
| 393 |
|
|
vTaskAllocateMPURegions( NULL, xAltRegions );
|
| 394 |
|
|
|
| 395 |
|
|
/* This loop performs the main function of the task, which is blocking
|
| 396 |
|
|
on a message queue then processing each message as it arrives. */
|
| 397 |
|
|
for( ;; )
|
| 398 |
|
|
{
|
| 399 |
|
|
/* Wait for the next message to arrive. */
|
| 400 |
|
|
xQueueReceive( xQueue, &lMessage, portMAX_DELAY );
|
| 401 |
|
|
|
| 402 |
|
|
switch( lMessage )
|
| 403 |
|
|
{
|
| 404 |
|
|
case mainREG_TEST_1_STILL_EXECUTING :
|
| 405 |
|
|
/* Message from task 1, so task 1 must still be executing. */
|
| 406 |
|
|
( ulStillAliveCounts[ 0 ] )++;
|
| 407 |
|
|
break;
|
| 408 |
|
|
|
| 409 |
|
|
case mainREG_TEST_2_STILL_EXECUTING :
|
| 410 |
|
|
/* Message from task 2, so task 2 must still be executing. */
|
| 411 |
|
|
( ulStillAliveCounts[ 1 ] )++;
|
| 412 |
|
|
break;
|
| 413 |
|
|
|
| 414 |
|
|
case mainPRINT_SYSTEM_STATUS :
|
| 415 |
|
|
/* Message from tick hook, time to print out the system
|
| 416 |
|
|
status. If messages has stopped arriving from either reg
|
| 417 |
|
|
test task then the status must be set to fail. */
|
| 418 |
|
|
if( ( ulStillAliveCounts[ 0 ] == 0 ) || ( ulStillAliveCounts[ 1 ] == 0 ) )
|
| 419 |
|
|
{
|
| 420 |
|
|
/* One or both of the test tasks are no longer sending
|
| 421 |
|
|
'still alive' messages. */
|
| 422 |
|
|
pcStatusMessage = "FAIL\r\n";
|
| 423 |
|
|
}
|
| 424 |
|
|
|
| 425 |
|
|
/* Print a pass/fail message to the terminal. This will be
|
| 426 |
|
|
visible in the CrossWorks IDE. */
|
| 427 |
|
|
debug_printf( pcStatusMessage );
|
| 428 |
|
|
|
| 429 |
|
|
/* Reset the count of 'still alive' messages. */
|
| 430 |
|
|
memset( ulStillAliveCounts, 0x00, sizeof( ulStillAliveCounts ) );
|
| 431 |
|
|
break;
|
| 432 |
|
|
|
| 433 |
|
|
default :
|
| 434 |
|
|
/* Something unexpected happened. Delete this task so the
|
| 435 |
|
|
error is apparent (no output will be displayed). */
|
| 436 |
|
|
prvDeleteMe();
|
| 437 |
|
|
break;
|
| 438 |
|
|
}
|
| 439 |
|
|
}
|
| 440 |
|
|
}
|
| 441 |
|
|
/*-----------------------------------------------------------*/
|
| 442 |
|
|
|
| 443 |
|
|
static void prvTestMemoryRegions( void )
|
| 444 |
|
|
{
|
| 445 |
|
|
long l;
|
| 446 |
|
|
char cTemp;
|
| 447 |
|
|
|
| 448 |
|
|
/* The check task (from which this function is called) is created in the
|
| 449 |
|
|
Privileged mode. The privileged array can be both read from and written
|
| 450 |
|
|
to while this task is privileged. */
|
| 451 |
|
|
cPrivilegedOnlyAccessArray[ 0 ] = 'a';
|
| 452 |
|
|
if( cPrivilegedOnlyAccessArray[ 0 ] != 'a' )
|
| 453 |
|
|
{
|
| 454 |
|
|
/* Something unexpected happened. Delete this task so the error is
|
| 455 |
|
|
apparent (no output will be displayed). */
|
| 456 |
|
|
prvDeleteMe();
|
| 457 |
|
|
}
|
| 458 |
|
|
|
| 459 |
|
|
/* Writing off the end of the RAM allocated to this task will *NOT* cause a
|
| 460 |
|
|
protection fault because the task is still executing in a privileged mode.
|
| 461 |
|
|
Uncomment the following to test. */
|
| 462 |
|
|
/*cPrivilegedOnlyAccessArray[ mainPRIVILEGED_ONLY_ACCESS_ALIGN_SIZE ] = 'a';*/
|
| 463 |
|
|
|
| 464 |
|
|
/* Now set the task into user mode. */
|
| 465 |
|
|
portSWITCH_TO_USER_MODE();
|
| 466 |
|
|
|
| 467 |
|
|
/* Accessing the privileged only array will now cause a fault. Uncomment
|
| 468 |
|
|
the following line to test. */
|
| 469 |
|
|
/*cPrivilegedOnlyAccessArray[ 0 ] = 'a';*/
|
| 470 |
|
|
|
| 471 |
|
|
/* The read/write array can still be successfully read and written. */
|
| 472 |
|
|
for( l = 0; l < mainREAD_WRITE_ALIGN_SIZE; l++ )
|
| 473 |
|
|
{
|
| 474 |
|
|
cReadWriteArray[ l ] = 'a';
|
| 475 |
|
|
if( cReadWriteArray[ l ] != 'a' )
|
| 476 |
|
|
{
|
| 477 |
|
|
/* Something unexpected happened. Delete this task so the error is
|
| 478 |
|
|
apparent (no output will be displayed). */
|
| 479 |
|
|
prvDeleteMe();
|
| 480 |
|
|
}
|
| 481 |
|
|
}
|
| 482 |
|
|
|
| 483 |
|
|
/* But attempting to read or write off the end of the RAM allocated to this
|
| 484 |
|
|
task will cause a fault. Uncomment either of the following two lines to
|
| 485 |
|
|
test. */
|
| 486 |
|
|
/* cReadWriteArray[ 0 ] = cReadWriteArray[ -1 ]; */
|
| 487 |
|
|
/* cReadWriteArray[ mainREAD_WRITE_ALIGN_SIZE ] = 0x00; */
|
| 488 |
|
|
|
| 489 |
|
|
/* The read only array can be successfully read... */
|
| 490 |
|
|
for( l = 0; l < mainREAD_ONLY_ALIGN_SIZE; l++ )
|
| 491 |
|
|
{
|
| 492 |
|
|
cTemp = cReadOnlyArray[ l ];
|
| 493 |
|
|
}
|
| 494 |
|
|
|
| 495 |
|
|
/* ...but cannot be written. Uncomment the following line to test. */
|
| 496 |
|
|
/* cReadOnlyArray[ 0 ] = 'a'; */
|
| 497 |
|
|
|
| 498 |
|
|
/* Writing to the first and last locations in the stack array should not
|
| 499 |
|
|
cause a protection fault. Note that doing this will cause the kernel to
|
| 500 |
|
|
detect a stack overflow if configCHECK_FOR_STACK_OVERFLOW is greater than
|
| 501 |
|
|
1. */
|
| 502 |
|
|
xCheckTaskStack[ 0 ] = 0;
|
| 503 |
|
|
xCheckTaskStack[ mainCHECK_TASK_STACK_SIZE_WORDS - 1 ] = 0;
|
| 504 |
|
|
|
| 505 |
|
|
/* Writing off either end of the stack array should cause a protection
|
| 506 |
|
|
fault, uncomment either of the following two lines to test. */
|
| 507 |
|
|
/* xCheckTaskStack[ -1 ] = 0; */
|
| 508 |
|
|
/* xCheckTaskStack[ mainCHECK_TASK_STACK_SIZE_WORDS ] = 0; */
|
| 509 |
|
|
}
|
| 510 |
|
|
/*-----------------------------------------------------------*/
|
| 511 |
|
|
|
| 512 |
|
|
static void prvRegTest1Task( void *pvParameters )
|
| 513 |
|
|
{
|
| 514 |
|
|
/* This task is created in privileged mode so can access the file scope
|
| 515 |
|
|
queue variable. Take a stack copy of this before the task is set into user
|
| 516 |
|
|
mode. Once this task is in user mode the file scope queue variable will no
|
| 517 |
|
|
longer be accessible but the stack copy will. */
|
| 518 |
|
|
xQueueHandle xQueue = xFileScopeCheckQueue;
|
| 519 |
|
|
|
| 520 |
|
|
/* Now the queue handle has been obtained the task can switch to user
|
| 521 |
|
|
mode. This is just one method of passing a handle into a protected
|
| 522 |
|
|
task, the other reg test task uses the task parameter instead. */
|
| 523 |
|
|
portSWITCH_TO_USER_MODE();
|
| 524 |
|
|
|
| 525 |
|
|
/* First check that the parameter value is as expected. */
|
| 526 |
|
|
if( pvParameters != ( void * ) 0x12345678 )
|
| 527 |
|
|
{
|
| 528 |
|
|
/* Error detected. Delete the task so it stops communicating with
|
| 529 |
|
|
the check task. */
|
| 530 |
|
|
prvDeleteMe();
|
| 531 |
|
|
}
|
| 532 |
|
|
|
| 533 |
|
|
|
| 534 |
|
|
for( ;; )
|
| 535 |
|
|
{
|
| 536 |
|
|
/* This task tests the kernel context switch mechanism by reading and
|
| 537 |
|
|
writing directly to registers - which requires the test to be written
|
| 538 |
|
|
in assembly code. */
|
| 539 |
|
|
__asm volatile
|
| 540 |
|
|
(
|
| 541 |
|
|
" MOV R4, #104 \n" /* Set registers to a known value. R0 to R1 are done in the loop below. */
|
| 542 |
|
|
" MOV R5, #105 \n"
|
| 543 |
|
|
" MOV R6, #106 \n"
|
| 544 |
|
|
" MOV R8, #108 \n"
|
| 545 |
|
|
" MOV R9, #109 \n"
|
| 546 |
|
|
" MOV R10, #110 \n"
|
| 547 |
|
|
" MOV R11, #111 \n"
|
| 548 |
|
|
"reg1loop: \n"
|
| 549 |
|
|
" MOV R0, #100 \n" /* Set the scratch registers to known values - done inside the loop as they get clobbered. */
|
| 550 |
|
|
" MOV R1, #101 \n"
|
| 551 |
|
|
" MOV R2, #102 \n"
|
| 552 |
|
|
" MOV R3, #103 \n"
|
| 553 |
|
|
" MOV R12, #112 \n"
|
| 554 |
|
|
" SVC #1 \n" /* Yield just to increase test coverage. */
|
| 555 |
|
|
" CMP R0, #100 \n" /* Check all the registers still contain their expected values. */
|
| 556 |
|
|
" BNE prvDeleteMe \n" /* Value was not as expected, delete the task so it stops communicating with the check task. */
|
| 557 |
|
|
" CMP R1, #101 \n"
|
| 558 |
|
|
" BNE prvDeleteMe \n"
|
| 559 |
|
|
" CMP R2, #102 \n"
|
| 560 |
|
|
" BNE prvDeleteMe \n"
|
| 561 |
|
|
" CMP R3, #103 \n"
|
| 562 |
|
|
" BNE prvDeleteMe \n"
|
| 563 |
|
|
" CMP R4, #104 \n"
|
| 564 |
|
|
" BNE prvDeleteMe \n"
|
| 565 |
|
|
" CMP R5, #105 \n"
|
| 566 |
|
|
" BNE prvDeleteMe \n"
|
| 567 |
|
|
" CMP R6, #106 \n"
|
| 568 |
|
|
" BNE prvDeleteMe \n"
|
| 569 |
|
|
" CMP R8, #108 \n"
|
| 570 |
|
|
" BNE prvDeleteMe \n"
|
| 571 |
|
|
" CMP R9, #109 \n"
|
| 572 |
|
|
" BNE prvDeleteMe \n"
|
| 573 |
|
|
" CMP R10, #110 \n"
|
| 574 |
|
|
" BNE prvDeleteMe \n"
|
| 575 |
|
|
" CMP R11, #111 \n"
|
| 576 |
|
|
" BNE prvDeleteMe \n"
|
| 577 |
|
|
" CMP R12, #112 \n"
|
| 578 |
|
|
" BNE prvDeleteMe \n"
|
| 579 |
|
|
:::"r0", "r1", "r2", "r3", "r4", "r5", "r6", "r8", "r9", "r10", "r11", "r12"
|
| 580 |
|
|
);
|
| 581 |
|
|
|
| 582 |
|
|
/* Send mainREG_TEST_1_STILL_EXECUTING to the check task to indicate that this
|
| 583 |
|
|
task is still functioning. */
|
| 584 |
|
|
prvSendImAlive( xQueue, mainREG_TEST_1_STILL_EXECUTING );
|
| 585 |
|
|
|
| 586 |
|
|
/* Go back to check all the register values again. */
|
| 587 |
|
|
__asm volatile( " B reg1loop " );
|
| 588 |
|
|
}
|
| 589 |
|
|
}
|
| 590 |
|
|
/*-----------------------------------------------------------*/
|
| 591 |
|
|
|
| 592 |
|
|
static void prvRegTest2Task( void *pvParameters )
|
| 593 |
|
|
{
|
| 594 |
|
|
/* The queue handle is passed in as the task parameter. This is one method of
|
| 595 |
|
|
passing data into a protected task, the other reg test task uses a different
|
| 596 |
|
|
method. */
|
| 597 |
|
|
xQueueHandle xQueue = ( xQueueHandle ) pvParameters;
|
| 598 |
|
|
|
| 599 |
|
|
for( ;; )
|
| 600 |
|
|
{
|
| 601 |
|
|
/* This task tests the kernel context switch mechanism by reading and
|
| 602 |
|
|
writing directly to registers - which requires the test to be written
|
| 603 |
|
|
in assembly code. */
|
| 604 |
|
|
__asm volatile
|
| 605 |
|
|
(
|
| 606 |
|
|
" MOV R4, #4 \n" /* Set registers to a known value. R0 to R1 are done in the loop below. */
|
| 607 |
|
|
" MOV R5, #5 \n"
|
| 608 |
|
|
" MOV R6, #6 \n"
|
| 609 |
|
|
" MOV R8, #8 \n" /* Frame pointer is omitted as it must not be changed. */
|
| 610 |
|
|
" MOV R9, #9 \n"
|
| 611 |
|
|
" MOV R10, 10 \n"
|
| 612 |
|
|
" MOV R11, #11 \n"
|
| 613 |
|
|
"reg2loop: \n"
|
| 614 |
|
|
" MOV R0, #13 \n" /* Set the scratch registers to known values - done inside the loop as they get clobbered. */
|
| 615 |
|
|
" MOV R1, #1 \n"
|
| 616 |
|
|
" MOV R2, #2 \n"
|
| 617 |
|
|
" MOV R3, #3 \n"
|
| 618 |
|
|
" MOV R12, #12 \n"
|
| 619 |
|
|
" CMP R0, #13 \n" /* Check all the registers still contain their expected values. */
|
| 620 |
|
|
" BNE prvDeleteMe \n" /* Value was not as expected, delete the task so it stops communicating with the check task */
|
| 621 |
|
|
" CMP R1, #1 \n"
|
| 622 |
|
|
" BNE prvDeleteMe \n"
|
| 623 |
|
|
" CMP R2, #2 \n"
|
| 624 |
|
|
" BNE prvDeleteMe \n"
|
| 625 |
|
|
" CMP R3, #3 \n"
|
| 626 |
|
|
" BNE prvDeleteMe \n"
|
| 627 |
|
|
" CMP R4, #4 \n"
|
| 628 |
|
|
" BNE prvDeleteMe \n"
|
| 629 |
|
|
" CMP R5, #5 \n"
|
| 630 |
|
|
" BNE prvDeleteMe \n"
|
| 631 |
|
|
" CMP R6, #6 \n"
|
| 632 |
|
|
" BNE prvDeleteMe \n"
|
| 633 |
|
|
" CMP R8, #8 \n"
|
| 634 |
|
|
" BNE prvDeleteMe \n"
|
| 635 |
|
|
" CMP R9, #9 \n"
|
| 636 |
|
|
" BNE prvDeleteMe \n"
|
| 637 |
|
|
" CMP R10, #10 \n"
|
| 638 |
|
|
" BNE prvDeleteMe \n"
|
| 639 |
|
|
" CMP R11, #11 \n"
|
| 640 |
|
|
" BNE prvDeleteMe \n"
|
| 641 |
|
|
" CMP R12, #12 \n"
|
| 642 |
|
|
" BNE prvDeleteMe \n"
|
| 643 |
|
|
:::"r0", "r1", "r2", "r3", "r4", "r5", "r6", "r8", "r9", "r10", "r11", "r12"
|
| 644 |
|
|
);
|
| 645 |
|
|
|
| 646 |
|
|
/* Send mainREG_TEST_2_STILL_EXECUTING to the check task to indicate that this
|
| 647 |
|
|
task is still functioning. */
|
| 648 |
|
|
prvSendImAlive( xQueue, mainREG_TEST_2_STILL_EXECUTING );
|
| 649 |
|
|
|
| 650 |
|
|
/* Go back to check all the register values again. */
|
| 651 |
|
|
__asm volatile( " B reg2loop " );
|
| 652 |
|
|
}
|
| 653 |
|
|
}
|
| 654 |
|
|
/*-----------------------------------------------------------*/
|
| 655 |
|
|
|
| 656 |
|
|
void vApplicationIdleHook( void )
|
| 657 |
|
|
{
|
| 658 |
|
|
extern unsigned long __SRAM_segment_end__[];
|
| 659 |
|
|
extern unsigned long __privileged_data_start__[];
|
| 660 |
|
|
extern unsigned long __privileged_data_end__[];
|
| 661 |
|
|
extern unsigned long __FLASH_segment_start__[];
|
| 662 |
|
|
extern unsigned long __FLASH_segment_end__[];
|
| 663 |
|
|
volatile unsigned long *pul;
|
| 664 |
|
|
volatile unsigned long ulReadData;
|
| 665 |
|
|
|
| 666 |
|
|
/* The idle task, and therefore this function, run in Supervisor mode and
|
| 667 |
|
|
can therefore access all memory. Try reading from corners of flash and
|
| 668 |
|
|
RAM to ensure a memory fault does not occur.
|
| 669 |
|
|
|
| 670 |
|
|
Start with the edges of the privileged data area. */
|
| 671 |
|
|
pul = __privileged_data_start__;
|
| 672 |
|
|
ulReadData = *pul;
|
| 673 |
|
|
pul = __privileged_data_end__ - 1;
|
| 674 |
|
|
ulReadData = *pul;
|
| 675 |
|
|
|
| 676 |
|
|
/* Next the standard SRAM area. */
|
| 677 |
|
|
pul = __SRAM_segment_end__ - 1;
|
| 678 |
|
|
ulReadData = *pul;
|
| 679 |
|
|
|
| 680 |
|
|
/* And the standard Flash area - the start of which is marked for
|
| 681 |
|
|
privileged access only. */
|
| 682 |
|
|
pul = __FLASH_segment_start__;
|
| 683 |
|
|
ulReadData = *pul;
|
| 684 |
|
|
pul = __FLASH_segment_end__ - 1;
|
| 685 |
|
|
ulReadData = *pul;
|
| 686 |
|
|
|
| 687 |
|
|
/* Reading off the end of Flash or SRAM space should cause a fault.
|
| 688 |
|
|
Uncomment one of the following two pairs of lines to test. */
|
| 689 |
|
|
|
| 690 |
|
|
/* pul = __FLASH_segment_end__ + 4;
|
| 691 |
|
|
ulReadData = *pul; */
|
| 692 |
|
|
|
| 693 |
|
|
/* pul = __SRAM_segment_end__ + 1;
|
| 694 |
|
|
ulReadData = *pul; */
|
| 695 |
|
|
}
|
| 696 |
|
|
/*-----------------------------------------------------------*/
|
| 697 |
|
|
|
| 698 |
|
|
static void prvOldStyleUserModeTask( void *pvParameters )
|
| 699 |
|
|
{
|
| 700 |
|
|
extern unsigned long __privileged_data_start__[];
|
| 701 |
|
|
extern unsigned long __privileged_data_end__[];
|
| 702 |
|
|
extern unsigned long __SRAM_segment_end__[];
|
| 703 |
|
|
extern unsigned long __privileged_functions_end__[];
|
| 704 |
|
|
extern unsigned long __FLASH_segment_start__[];
|
| 705 |
|
|
extern unsigned long __FLASH_segment_end__[];
|
| 706 |
|
|
const volatile unsigned long *pulStandardPeripheralRegister = ( volatile unsigned long * ) 0x400FC0C4; /* PCONP */
|
| 707 |
|
|
volatile unsigned long *pul;
|
| 708 |
|
|
volatile unsigned long ulReadData;
|
| 709 |
|
|
|
| 710 |
|
|
/* The following lines are commented out to prevent the unused variable
|
| 711 |
|
|
compiler warnings when the tests that use the variable are also commented out.
|
| 712 |
|
|
extern unsigned long __privileged_functions_start__[];
|
| 713 |
|
|
const volatile unsigned long *pulSystemPeripheralRegister = ( volatile unsigned long * ) 0xe000e014; */
|
| 714 |
|
|
|
| 715 |
|
|
( void ) pvParameters;
|
| 716 |
|
|
|
| 717 |
|
|
/* This task is created in User mode using the original xTaskCreate() API
|
| 718 |
|
|
function. It should have access to all Flash and RAM except that marked
|
| 719 |
|
|
as Privileged access only. Reading from the start and end of the non-
|
| 720 |
|
|
privileged RAM should not cause a problem (the privileged RAM is the first
|
| 721 |
|
|
block at the bottom of the RAM memory). */
|
| 722 |
|
|
pul = __privileged_data_end__ + 1;
|
| 723 |
|
|
ulReadData = *pul;
|
| 724 |
|
|
pul = __SRAM_segment_end__ - 1;
|
| 725 |
|
|
ulReadData = *pul;
|
| 726 |
|
|
|
| 727 |
|
|
/* Likewise reading from the start and end of the non-privileged Flash
|
| 728 |
|
|
should not be a problem (the privileged Flash is the first block at the
|
| 729 |
|
|
bottom of the Flash memory). */
|
| 730 |
|
|
pul = __privileged_functions_end__ + 1;
|
| 731 |
|
|
ulReadData = *pul;
|
| 732 |
|
|
pul = __FLASH_segment_end__ - 1;
|
| 733 |
|
|
ulReadData = *pul;
|
| 734 |
|
|
|
| 735 |
|
|
/* Standard peripherals are accessible. */
|
| 736 |
|
|
ulReadData = *pulStandardPeripheralRegister;
|
| 737 |
|
|
|
| 738 |
|
|
/* System peripherals are not accessible. Uncomment the following line
|
| 739 |
|
|
to test. Also uncomment the declaration of pulSystemPeripheralRegister
|
| 740 |
|
|
at the top of this function. */
|
| 741 |
|
|
/* ulReadData = *pulSystemPeripheralRegister; */
|
| 742 |
|
|
|
| 743 |
|
|
/* Reading from anywhere inside the privileged Flash or RAM should cause a
|
| 744 |
|
|
fault. This can be tested by uncommenting any of the following pairs of
|
| 745 |
|
|
lines. Also uncomment the declaration of __privileged_functions_start__
|
| 746 |
|
|
at the top of this function. */
|
| 747 |
|
|
|
| 748 |
|
|
/* pul = __privileged_functions_start__;
|
| 749 |
|
|
ulReadData = *pul; */
|
| 750 |
|
|
|
| 751 |
|
|
/* pul = __privileged_functions_end__ - 1;
|
| 752 |
|
|
ulReadData = *pul; */
|
| 753 |
|
|
|
| 754 |
|
|
/* pul = __privileged_data_start__;
|
| 755 |
|
|
ulReadData = *pul; */
|
| 756 |
|
|
|
| 757 |
|
|
/* pul = __privileged_data_end__ - 1;
|
| 758 |
|
|
ulReadData = *pul; */
|
| 759 |
|
|
|
| 760 |
|
|
/* Must not just run off the end of a task function, so delete this task.
|
| 761 |
|
|
Note that because this task was created using xTaskCreate() the stack was
|
| 762 |
|
|
allocated dynamically and I have not included any code to free it again. */
|
| 763 |
|
|
vTaskDelete( NULL );
|
| 764 |
|
|
}
|
| 765 |
|
|
/*-----------------------------------------------------------*/
|
| 766 |
|
|
|
| 767 |
|
|
static void prvOldStylePrivilegedModeTask( void *pvParameters )
|
| 768 |
|
|
{
|
| 769 |
|
|
extern unsigned long __privileged_data_start__[];
|
| 770 |
|
|
extern unsigned long __privileged_data_end__[];
|
| 771 |
|
|
extern unsigned long __SRAM_segment_end__[];
|
| 772 |
|
|
extern unsigned long __privileged_functions_start__[];
|
| 773 |
|
|
extern unsigned long __privileged_functions_end__[];
|
| 774 |
|
|
extern unsigned long __FLASH_segment_start__[];
|
| 775 |
|
|
extern unsigned long __FLASH_segment_end__[];
|
| 776 |
|
|
volatile unsigned long *pul;
|
| 777 |
|
|
volatile unsigned long ulReadData;
|
| 778 |
|
|
const volatile unsigned long *pulSystemPeripheralRegister = ( volatile unsigned long * ) 0xe000e014; /* Systick */
|
| 779 |
|
|
const volatile unsigned long *pulStandardPeripheralRegister = ( volatile unsigned long * ) 0x400FC0C4; /* PCONP */
|
| 780 |
|
|
|
| 781 |
|
|
( void ) pvParameters;
|
| 782 |
|
|
|
| 783 |
|
|
/* This task is created in Privileged mode using the original xTaskCreate()
|
| 784 |
|
|
API function. It should have access to all Flash and RAM including that
|
| 785 |
|
|
marked as Privileged access only. So reading from the start and end of the
|
| 786 |
|
|
non-privileged RAM should not cause a problem (the privileged RAM is the
|
| 787 |
|
|
first block at the bottom of the RAM memory). */
|
| 788 |
|
|
pul = __privileged_data_end__ + 1;
|
| 789 |
|
|
ulReadData = *pul;
|
| 790 |
|
|
pul = __SRAM_segment_end__ - 1;
|
| 791 |
|
|
ulReadData = *pul;
|
| 792 |
|
|
|
| 793 |
|
|
/* Likewise reading from the start and end of the non-privileged Flash
|
| 794 |
|
|
should not be a problem (the privileged Flash is the first block at the
|
| 795 |
|
|
bottom of the Flash memory). */
|
| 796 |
|
|
pul = __privileged_functions_end__ + 1;
|
| 797 |
|
|
ulReadData = *pul;
|
| 798 |
|
|
pul = __FLASH_segment_end__ - 1;
|
| 799 |
|
|
ulReadData = *pul;
|
| 800 |
|
|
|
| 801 |
|
|
/* Reading from anywhere inside the privileged Flash or RAM should also
|
| 802 |
|
|
not be a problem. */
|
| 803 |
|
|
pul = __privileged_functions_start__;
|
| 804 |
|
|
ulReadData = *pul;
|
| 805 |
|
|
pul = __privileged_functions_end__ - 1;
|
| 806 |
|
|
ulReadData = *pul;
|
| 807 |
|
|
pul = __privileged_data_start__;
|
| 808 |
|
|
ulReadData = *pul;
|
| 809 |
|
|
pul = __privileged_data_end__ - 1;
|
| 810 |
|
|
ulReadData = *pul;
|
| 811 |
|
|
|
| 812 |
|
|
/* Finally, accessing both System and normal peripherals should both be
|
| 813 |
|
|
possible. */
|
| 814 |
|
|
ulReadData = *pulSystemPeripheralRegister;
|
| 815 |
|
|
ulReadData = *pulStandardPeripheralRegister;
|
| 816 |
|
|
|
| 817 |
|
|
/* Must not just run off the end of a task function, so delete this task.
|
| 818 |
|
|
Note that because this task was created using xTaskCreate() the stack was
|
| 819 |
|
|
allocated dynamically and I have not included any code to free it again. */
|
| 820 |
|
|
vTaskDelete( NULL );
|
| 821 |
|
|
}
|
| 822 |
|
|
/*-----------------------------------------------------------*/
|
| 823 |
|
|
|
| 824 |
|
|
static void prvDeleteMe( void )
|
| 825 |
|
|
{
|
| 826 |
|
|
vTaskDelete( NULL );
|
| 827 |
|
|
}
|
| 828 |
|
|
/*-----------------------------------------------------------*/
|
| 829 |
|
|
|
| 830 |
|
|
static void prvSendImAlive( xQueueHandle xHandle, unsigned long ulTaskNumber )
|
| 831 |
|
|
{
|
| 832 |
|
|
if( xHandle != NULL )
|
| 833 |
|
|
{
|
| 834 |
|
|
xQueueSend( xHandle, &ulTaskNumber, mainDONT_BLOCK );
|
| 835 |
|
|
}
|
| 836 |
|
|
}
|
| 837 |
|
|
/*-----------------------------------------------------------*/
|
| 838 |
|
|
|
| 839 |
|
|
static void prvSetupHardware( void )
|
| 840 |
|
|
{
|
| 841 |
|
|
/* If running on Rev A2 silicon, turn the LDO voltage up to 2.75V. This is
|
| 842 |
|
|
a workaround to allow the PLL to operate reliably. */
|
| 843 |
|
|
if( DEVICE_IS_REVA2 )
|
| 844 |
|
|
{
|
| 845 |
|
|
SysCtlLDOSet( SYSCTL_LDO_2_75V );
|
| 846 |
|
|
}
|
| 847 |
|
|
|
| 848 |
|
|
/* Set the clocking to run from the PLL at 50 MHz */
|
| 849 |
|
|
SysCtlClockSet( SYSCTL_SYSDIV_4 | SYSCTL_USE_PLL | SYSCTL_OSC_MAIN | SYSCTL_XTAL_8MHZ );
|
| 850 |
|
|
}
|
| 851 |
|
|
/*-----------------------------------------------------------*/
|
| 852 |
|
|
|
| 853 |
|
|
void vApplicationTickHook( void )
|
| 854 |
|
|
{
|
| 855 |
|
|
static unsigned long ulCallCount;
|
| 856 |
|
|
const unsigned long ulCallsBetweenSends = 5000 / portTICK_RATE_MS;
|
| 857 |
|
|
const unsigned long ulMessage = mainPRINT_SYSTEM_STATUS;
|
| 858 |
|
|
portBASE_TYPE xDummy;
|
| 859 |
|
|
|
| 860 |
|
|
/* If configUSE_TICK_HOOK is set to 1 then this function will get called
|
| 861 |
|
|
from each RTOS tick. It is called from the tick interrupt and therefore
|
| 862 |
|
|
will be executing in the privileged state. */
|
| 863 |
|
|
|
| 864 |
|
|
ulCallCount++;
|
| 865 |
|
|
|
| 866 |
|
|
/* Is it time to print out the pass/fail message again? */
|
| 867 |
|
|
if( ulCallCount >= ulCallsBetweenSends )
|
| 868 |
|
|
{
|
| 869 |
|
|
ulCallCount = 0;
|
| 870 |
|
|
|
| 871 |
|
|
/* Send a message to the check task to command it to check that all
|
| 872 |
|
|
the tasks are still running then print out the status.
|
| 873 |
|
|
|
| 874 |
|
|
This is running in an ISR so has to use the "FromISR" version of
|
| 875 |
|
|
xQueueSend(). Because it is in an ISR it is running with privileges
|
| 876 |
|
|
so can access xFileScopeCheckQueue directly. */
|
| 877 |
|
|
xQueueSendFromISR( xFileScopeCheckQueue, &ulMessage, &xDummy );
|
| 878 |
|
|
}
|
| 879 |
|
|
}
|
| 880 |
|
|
/*-----------------------------------------------------------*/
|
| 881 |
|
|
|
| 882 |
|
|
void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed char *pcTaskName )
|
| 883 |
|
|
{
|
| 884 |
|
|
/* If configCHECK_FOR_STACK_OVERFLOW is set to either 1 or 2 then this
|
| 885 |
|
|
function will automatically get called if a task overflows its stack. */
|
| 886 |
|
|
( void ) pxTask;
|
| 887 |
|
|
( void ) pcTaskName;
|
| 888 |
|
|
for( ;; );
|
| 889 |
|
|
}
|
| 890 |
|
|
/*-----------------------------------------------------------*/
|
| 891 |
|
|
|
| 892 |
|
|
void vApplicationMallocFailedHook( void )
|
| 893 |
|
|
{
|
| 894 |
|
|
/* If configUSE_MALLOC_FAILED_HOOK is set to 1 then this function will
|
| 895 |
|
|
be called automatically if a call to pvPortMalloc() fails. pvPortMalloc()
|
| 896 |
|
|
is called automatically when a task, queue or semaphore is created. */
|
| 897 |
|
|
for( ;; );
|
| 898 |
|
|
}
|
| 899 |
|
|
/*-----------------------------------------------------------*/
|
| 900 |
|
|
|
| 901 |
|
|
/* Just to keep the linker happy. */
|
| 902 |
|
|
void __error__( char *pcFilename, unsigned long ulLine )
|
| 903 |
|
|
{
|
| 904 |
|
|
( void ) pcFilename;
|
| 905 |
|
|
( void ) ulLine;
|
| 906 |
|
|
for( ;; );
|
| 907 |
|
|
}
|
| 908 |
|
|
/*-----------------------------------------------------------*/
|
| 909 |
|
|
|
| 910 |
|
|
/* Just to keep the linker happy. */
|
| 911 |
|
|
int uipprintf( const char *fmt, ... )
|
| 912 |
|
|
{
|
| 913 |
|
|
( void ) fmt;
|
| 914 |
|
|
return( 0 );
|
| 915 |
|
|
}
|
| 916 |
|
|
/*-----------------------------------------------------------*/
|
| 917 |
|
|
|
| 918 |
|
|
void hard_fault_handler(unsigned int * hardfault_args)
|
| 919 |
|
|
{
|
| 920 |
|
|
volatile unsigned int stacked_r0;
|
| 921 |
|
|
volatile unsigned int stacked_r1;
|
| 922 |
|
|
volatile unsigned int stacked_r2;
|
| 923 |
|
|
volatile unsigned int stacked_r3;
|
| 924 |
|
|
volatile unsigned int stacked_r12;
|
| 925 |
|
|
volatile unsigned int stacked_lr;
|
| 926 |
|
|
volatile unsigned int stacked_pc;
|
| 927 |
|
|
volatile unsigned int stacked_psr;
|
| 928 |
|
|
|
| 929 |
|
|
stacked_r0 = ((unsigned long) hardfault_args[0]);
|
| 930 |
|
|
stacked_r1 = ((unsigned long) hardfault_args[1]);
|
| 931 |
|
|
stacked_r2 = ((unsigned long) hardfault_args[2]);
|
| 932 |
|
|
stacked_r3 = ((unsigned long) hardfault_args[3]);
|
| 933 |
|
|
|
| 934 |
|
|
stacked_r12 = ((unsigned long) hardfault_args[4]);
|
| 935 |
|
|
stacked_lr = ((unsigned long) hardfault_args[5]);
|
| 936 |
|
|
stacked_pc = ((unsigned long) hardfault_args[6]);
|
| 937 |
|
|
stacked_psr = ((unsigned long) hardfault_args[7]);
|
| 938 |
|
|
|
| 939 |
|
|
/* Inspect stacked_pc to locate the offending instruction. */
|
| 940 |
|
|
for( ;; );
|
| 941 |
|
|
}
|
| 942 |
|
|
/*-----------------------------------------------------------*/
|
| 943 |
|
|
|
| 944 |
|
|
void Fault_ISR( void ) __attribute__((naked));
|
| 945 |
|
|
void Fault_ISR( void )
|
| 946 |
|
|
{
|
| 947 |
|
|
__asm volatile
|
| 948 |
|
|
(
|
| 949 |
|
|
" tst lr, #4 \n"
|
| 950 |
|
|
" ite eq \n"
|
| 951 |
|
|
" mrseq r0, msp \n"
|
| 952 |
|
|
" mrsne r0, psp \n"
|
| 953 |
|
|
" ldr r1, [r0, #24] \n"
|
| 954 |
|
|
" ldr r2, handler_address_const \n"
|
| 955 |
|
|
" bx r2 \n"
|
| 956 |
|
|
" handler_address_const: .word hard_fault_handler \n"
|
| 957 |
|
|
);
|
| 958 |
|
|
}
|
| 959 |
|
|
/*-----------------------------------------------------------*/
|
| 960 |
|
|
|
| 961 |
|
|
void MPU_Fault_ISR( void ) __attribute__((naked));
|
| 962 |
|
|
void MPU_Fault_ISR( void )
|
| 963 |
|
|
{
|
| 964 |
|
|
__asm volatile
|
| 965 |
|
|
(
|
| 966 |
|
|
" tst lr, #4 \n"
|
| 967 |
|
|
" ite eq \n"
|
| 968 |
|
|
" mrseq r0, msp \n"
|
| 969 |
|
|
" mrsne r0, psp \n"
|
| 970 |
|
|
" ldr r1, [r0, #24] \n"
|
| 971 |
|
|
" ldr r2, handler_address_const \n"
|
| 972 |
|
|
" bx r2 \n"
|
| 973 |
|
|
" handler2_address_const: .word hard_fault_handler \n"
|
| 974 |
|
|
);
|
| 975 |
|
|
}
|
| 976 |
|
|
/*-----------------------------------------------------------*/
|
